This folder mimics the official lerobot folder with XLeRobot robot file, configs and demo codes.

• SO100/SO101 control codes: These codes should be compatible to both SO100 and SO101, even if you just keep the name in the codes as so100.

  • Keyboard Joint control
  • Keyboard EE control with my own analytical IK
  • Keyboard EE control for dual arm setup with my own analytical IK

• Computer Vision codes

  • simple_so100_yolo_ee_control.py: YOLO for object detection and segmentation, real-time tracking with the hand camera
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Real-time test on YOLO-based control for object tracking: