feat: bi-so101, v3.0->v2.1->v2.0, xlerobot, teleops (ar, joycon, gamepads), mjpeg,

[bingogome]

What this does

• Supports bimanual SO-101 configurations out-of-the-box
• Adds XLerobot combined platform (bi_so101 arms + LeKiwi base)
• Uses dataset schema v2.1 (downshifted from upstream v3.0 for compatibility)
  • If you need to convert to v2.0 for GR00T, check out a fork of any4lerobot where I have an implementation for v2.1 to v2.0
• Enables fast MJPEG capture via camera fourcc=mjpeg
• Verified with the AR teleoperation controller
• Verified with Nintendo Switch Joy-Con controller integration
• Verified with Quest 3 AR control

[Copilot]

Pull Request Overview

This pull request adds comprehensive support for bimanual SO-101 robot configurations, teleoperators (including AR, Joy-Con, and gamepad controllers), and the XLerobot combined platform. It also includes schema downgrade utilities from v3.0 to v2.1 for compatibility reasons, MJPEG camera support, and training configuration optimizations.

Key changes:

• Adds bimanual SO-101 follower and leader support for dual-arm robotic setups
• Introduces XLerobot platform combining SO-101 arms with LeKiwi mobile base
• Implements multiple teleoperation options: AR controller, Joy-Con controllers, and gamepad support
• Includes dataset schema conversion utilities for v3.0 to v2.1 compatibility

Reviewed Changes

Copilot reviewed 67 out of 67 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
src/lerobot/teleoperators/xlerobot_mount_idle/	Static teleoperator for XLerobot mount joints
src/lerobot/teleoperators/xlerobot_leader_gamepad/	Composite teleoperator combining SO-101 arms with gamepad base control
src/lerobot/teleoperators/xlerobot_joycon_gamepad/	Composite teleoperator combining Joy-Con arms with gamepad base control
src/lerobot/teleoperators/lekiwi_base_joycon/	Joy-Con controller for LeKiwi base movement
src/lerobot/teleoperators/lekiwi_base_gamepad/	Gamepad controller for LeKiwi base movement
src/lerobot/teleoperators/bi_so101_leader/	Bimanual SO-101 leader arm configuration
src/lerobot/teleoperators/bi_joycon/	Bimanual Joy-Con teleoperation support
src/lerobot/teleoperators/bi_gamepad/	Bimanual gamepad teleoperation support
src/lerobot/teleoperators/ar_controller/	AR-based teleoperation controller
src/lerobot/robots/xlerobot/	Combined XLerobot platform implementation
src/lerobot/robots/xlerobot_mount/	XLerobot camera mount robot implementation
src/lerobot/robots/lekiwi_base/	LeKiwi mobile base robot implementation
src/lerobot/robots/bi_so101_follower/	Bimanual SO-101 follower robot implementation
src/lerobot/datasets/v30/convert_dataset_v30_to_v21.py	Dataset schema conversion utility
src/lerobot/cameras/opencv/	MJPEG camera capture support

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[Copilot]

Duplicate camera disconnection loop. The second loop (lines 190-194) is identical to the first (lines 185-189) and should be removed.

Suggested change

	for cam in self.cameras.values():
	try:
	cam.disconnect()
	except Exception:
	logger.warning("Failed to disconnect camera", exc_info=True)

[Copilot]

The disconnect method is commented out and only contains 'pass'. This leaves resources potentially uncleaned. Either implement proper cleanup or document why it's intentionally disabled.

Suggested change

	# if self._left_joycon is not None:
	# try:
	# self._left_joycon.disconnect()
	# except Exception: # pragma: no cover - hardware cleanup
	# pass
	# self._left_joycon = None
	# if self._right_joycon is not None:
	# try:
	# self._right_joycon.disconnect()
	# except Exception: # pragma: no cover - hardware cleanup
	# pass
	# self._right_joycon = None
	# self._last_update = None
	# logger.info("JoyCon teleoperator disconnected.")
	pass
	if self._left_joycon is not None:
	try:
	self._left_joycon.disconnect()
	except Exception: # pragma: no cover - hardware cleanup
	pass
	self._left_joycon = None
	if self._right_joycon is not None:
	try:
	self._right_joycon.disconnect()
	except Exception: # pragma: no cover - hardware cleanup
	pass
	self._right_joycon = None
	self._last_update = None
	logging.info("JoyCon teleoperator disconnected.")

[Copilot]

The disconnect method is commented out and only contains 'pass'. This leaves JoyCon resources potentially uncleaned. Either implement proper cleanup or document why it's intentionally disabled.

Suggested change

	# if self._joycon is not None:
	# try:
	# self._joycon.disconnect()
	# except Exception: # pragma: no cover - hardware cleanup
	# logger.debug("Failed to disconnect JoyCon cleanly.", exc_info=True)
	# self._joycon = None
	pass
	if self._joycon is not None:
	try:
	self._joycon.disconnect()
	except Exception: # pragma: no cover - hardware cleanup
	logger.debug("Failed to disconnect JoyCon cleanly.", exc_info=True)
	self._joycon = None

[Copilot]

The subprocess call executes ffmpeg with user-controlled file paths. While validation exists in _validate_video_paths(), consider using shlex.quote() on the file path arguments to prevent potential shell injection if paths contain special characters.