Try adding a fake Reachy teleoperator

src/lerobot/teleoperators/reachy2_fake_teleoperator/__init__.py

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+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_reachy2_fake_teleoperator import Reachy2FakeTeleoperatorConfig
+from .reachy2_fake_teleoperator import Reachy2FakeTeleoperator

src/lerobot/teleoperators/reachy2_fake_teleoperator/config_reachy2_fake_teleoperator.py

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+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+
+from ..config import TeleoperatorConfig
+
+
+@TeleoperatorConfig.register_subclass("reachy2_fake_teleoperator")
+@dataclass
+class Reachy2FakeTeleoperatorConfig(TeleoperatorConfig):
+    # Port to connect to the arm
+    ip_address: str | None = "localhost"

src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py

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+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+
+# from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+# from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+# from lerobot.motors.feetech import (
+#     FeetechMotorsBus,
+#     OperatingMode,
+# )
+from reachy2_sdk import ReachySDK
+
+
+from ..teleoperator import Teleoperator
+from .config_reachy2_fake_teleoperator import Reachy2FakeTeleoperatorConfig
+
+logger = logging.getLogger(__name__)
+
+# {lerobot_keys: reachy2_sdk_keys}
+REACHY2_MOTORS = {
+    "neck_yaw.pos": "head.neck.yaw",
+    "neck_pitch.pos": "head.neck.pitch",
+    "neck_roll.pos": "head.neck.roll",
+    "r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
+    "r_shoulder_roll.pos": "r_arm.shoulder.roll",
+    "r_elbow_yaw.pos": "r_arm.elbow.yaw",
+    "r_elbow_pitch.pos": "r_arm.elbow.pitch",
+    "r_wrist_roll.pos": "r_arm.wrist.roll",
+    "r_wrist_pitch.pos": "r_arm.wrist.pitch",
+    "r_wrist_yaw.pos": "r_arm.wrist.yaw",
+    "r_gripper.pos": "r_arm.gripper",
+    "l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
+    "l_shoulder_roll.pos": "l_arm.shoulder.roll",
+    "l_elbow_yaw.pos": "l_arm.elbow.yaw",
+    "l_elbow_pitch.pos": "l_arm.elbow.pitch",
+    "l_wrist_roll.pos": "l_arm.wrist.roll",
+    "l_wrist_pitch.pos": "l_arm.wrist.pitch",
+    "l_wrist_yaw.pos": "l_arm.wrist.yaw",
+    "l_gripper.pos": "l_arm.gripper",
+    "l_antenna.pos": "head.l_antenna",
+    "r_antenna.pos": "head.r_antenna",
+    # "mobile_base.vx": "mobile_base.vx",
+    # "mobile_base.vy": "mobile_base.vy",
+    # "mobile_base.vtheta": "mobile_base.vtheta",
+}
+
+
+class Reachy2FakeTeleoperator(Teleoperator):
+    """
+    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
+    """
+
+    config_class = Reachy2FakeTeleoperatorConfig
+    name = "reachy2_specific"
+
+    def __init__(self, config: Reachy2FakeTeleoperatorConfig):
+        super().__init__(config)
+        self.config = config
+        self.reachy: None | ReachySDK = None
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        return dict.fromkeys(
+            REACHY2_MOTORS.keys(),
+            float,
+        )
+
+    @property
+    def feedback_features(self) -> dict[str, type]:
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        return self.reachy.is_connected() if self.reachy is not None else False
+
+    def connect(self, calibrate: bool = True) -> None:
+        self.reachy = ReachySDK(self.config.ip_address)
+        if not self.is_connected:
+            print("Error connecting to Reachy 2.")
+            raise ConnectionError()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return True
+
+    def calibrate(self) -> None:
+        pass
+
+    def configure(self) -> None:
+        pass
+
+    def get_action(self) -> dict[str, float]:
+        start = time.perf_counter()
+        action = {k: self.reachy.joints[v].goal_position for k, v in REACHY2_MOTORS.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        return action
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        # TODO(rcadene, aliberts): Implement force feedback
+        raise NotImplementedError
+
+    def disconnect(self) -> None:
+        self.reachy.disconnect()