Add Bimanual Configuration for SO100 Robot

[brysonjones]

What this does

Adds a configuration to support a bimanual setup for the SO100 robot.

How it was tested

This update was tested on a real bimanual setup of two SO100 robots in a lab by calibrating, teleoperating, and training a policy

How to checkout & try? (for the reviewer)

Connect an SO100 leader arm, set the correct serial port in the config file, and attempt to calibrate with the new flag

python lerobot/scripts/control_robot.py \
  --robot.type=so100_bimanual \
  --robot.cameras='{}' \
  --control.type=calibrate \
  --control.arms='["left_leader"]'

If you have 2 full setups, you can go through this process for all 4 arms to validate this addition.

Once calibration is complete, you can teleoperate the new setup with:

python lerobot/scripts/control_robot.py \
  --robot.type=so100_bimanual \
  --robot.cameras='{}' \
  --control.type=teleoperate

[aliberts]

Hi, thanks for your addition. We are heavily refactoring the robot classes (#777) with the ultimate goal of making everything simple, easier to use and easier to add new robots.

The manipulator class will disappear and code overall will change a lot, which is why we won't be merging this. In the meantime I will leave it open though as there seems to be some interest for this (#736).

EDIT: To be clear, it should be very easy to have a SO100 bimanual setup after the refactor ;)

[brysonjones]

Hi, thanks for your addition. We are heavily refactoring the robot classes (#777) with the ultimate goal of making everything simple, easier to use and easier to add new robots.

The manipulator class will disappear and code overall will change a lot, which is why we won't be merging this. In the meantime I will leave it open though as there seems to be some interest for this (#736).

EDIT: To be clear, it should be very easy to have a SO100 bimanual setup after the refactor ;)

Understood!

Thank you -- looking forward to the updates 😄