docs(transforms): write the API reference docstrings

Continues Wave 2. Takes src/lerobot/transforms/ to 100% public docstring coverage. Reformats every
pre-existing Args: block into the machine-checked shape (they had prose-only params check_docstrings.py
couldn't parse, so were silently unchecked). Adds docs/source/api/transforms.mdx, which didn't exist
before — needs a _toctree.yml entry from whoever owns that file, see PR description.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

docs/source/api/teleoperators.mdx

@@ -28,231 +28,3 @@ See [Phone teleoperation](../phone_teleop) and [Isaac Teleop](../isaac_teleop) f
 ## make_teleoperator_from_config
 
 [[autodoc]] lerobot.teleoperators.make_teleoperator_from_config
-
-## SO-100 and SO-101 leaders
-
-`SO100Leader` and `SO101Leader` are aliases of the same `SOLeader` class; the two arms differ in their
-configuration, not their control code. `SO100LeaderConfig` and `SO101LeaderConfig` are likewise aliases of
-`SOLeaderTeleopConfig`.
-
-[[autodoc]] lerobot.teleoperators.so_leader.SOLeader
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.so_leader.SOLeaderTeleopConfig
-
-## KochLeader
-
-[[autodoc]] lerobot.teleoperators.koch_leader.KochLeader
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.koch_leader.KochLeaderConfig
-
-## OmxLeader
-
-[[autodoc]] lerobot.teleoperators.omx_leader.OmxLeader
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.omx_leader.OmxLeaderConfig
-
-## OpenArmLeader
-
-CAN-based leader arm using Damiao motors.
-
-[[autodoc]] lerobot.teleoperators.openarm_leader.OpenArmLeader
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.openarm_leader.OpenArmLeaderConfig
-
-## BiOpenArmLeader
-
-A bimanual pair of `OpenArmLeader` arms.
-
-[[autodoc]] lerobot.teleoperators.bi_openarm_leader.BiOpenArmLeader
-    - all
-
-[[autodoc]] lerobot.teleoperators.bi_openarm_leader.BiOpenArmLeaderConfig
-
-## OpenArmMini
-
-CAN-based leader arm using Damiao motors, a smaller/simpler OpenArm variant.
-
-[[autodoc]] lerobot.teleoperators.openarm_mini.OpenArmMini
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.openarm_mini.OpenArmMiniConfig
-
-## BiOpenArmMini
-
-A bimanual pair of `OpenArmMini` arms.
-
-[[autodoc]] lerobot.teleoperators.bi_openarm_mini.BiOpenArmMini
-    - all
-
-[[autodoc]] lerobot.teleoperators.bi_openarm_mini.BiOpenArmMiniConfig
-
-## HomunculusArm
-
-A wearable exoskeleton arm read over a serial link.
-
-[[autodoc]] lerobot.teleoperators.homunculus.HomunculusArm
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.homunculus.HomunculusArmConfig
-
-## HomunculusGlove
-
-A wearable exoskeleton glove read over a serial link, remapped to HopeJR hand joints via
-`homunculus_glove_to_hope_jr_hand`.
-
-[[autodoc]] lerobot.teleoperators.homunculus.HomunculusGlove
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.homunculus.HomunculusGloveConfig
-
-[[autodoc]] lerobot.teleoperators.homunculus.homunculus_glove_to_hope_jr_hand
-
-## RebotArm102Leader
-
-[[autodoc]] lerobot.teleoperators.rebot_102_leader.RebotArm102Leader
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.rebot_102_leader.RebotArm102LeaderTeleopConfig
-
-## BiRebot102Leader
-
-A bimanual pair of `RebotArm102Leader` arms.
-
-[[autodoc]] lerobot.teleoperators.bi_rebot_102_leader.BiRebot102Leader
-    - all
-
-[[autodoc]] lerobot.teleoperators.bi_rebot_102_leader.BiRebot102LeaderConfig
-
-## BiSOLeader
-
-A bimanual pair of `SOLeader` arms.
-
-[[autodoc]] lerobot.teleoperators.bi_so_leader.BiSOLeader
-    - all
-
-[[autodoc]] lerobot.teleoperators.bi_so_leader.BiSOLeaderConfig
-
-## Phone
-
-Reads pose and touch input from a phone app (iOS or Android).
-
-[[autodoc]] lerobot.teleoperators.phone.Phone
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.phone.PhoneConfig
-
-## Keyboard
-
-`KeyboardTeleop`, `KeyboardEndEffectorTeleop`, and `KeyboardRoverTeleop` read key-press events for manual
-control, targeting joint-space, end-effector, or mobile-base actions respectively.
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardTeleop
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardTeleopConfig
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardEndEffectorTeleop
-    - all
-    - action_features
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardEndEffectorTeleopConfig
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardRoverTeleop
-    - all
-    - action_features
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.keyboard.KeyboardRoverTeleopConfig
-
-## GamepadTeleop
-
-Reads joystick/button input from a gamepad via pygame.
-
-[[autodoc]] lerobot.teleoperators.gamepad.GamepadTeleop
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-
-[[autodoc]] lerobot.teleoperators.gamepad.GamepadTeleopConfig
-
-## UnitreeG1Teleoperator
-
-A wearable exoskeleton for teleoperating the Unitree G1 humanoid's arms, mapping exoskeleton joint angles to
-G1 end-effector poses via forward/inverse kinematics.
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.UnitreeG1Teleoperator
-    - all
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.UnitreeG1TeleoperatorConfig
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonArm
-    - all
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonArmPortConfig
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonIKHelper
-    - all
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonCalibration
-
-[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonJointCalibration
-
-## Reachy2Teleoperator
-
-[[autodoc]] lerobot.teleoperators.reachy2_teleoperator.Reachy2Teleoperator
-    - all
-    - action_features
-    - feedback_features
-    - is_connected
-    - is_calibrated
-
-[[autodoc]] lerobot.teleoperators.reachy2_teleoperator.Reachy2TeleoperatorConfig

docs/source/api/transforms.mdx

@@ -0,0 +1,71 @@
+# Image Transforms
+
+Data-augmentation transforms applied to camera observations during training. [`~transforms.ImageTransforms`]
+composes a random subset of them, configured via [`~transforms.ImageTransformsConfig`].
+
+## ImageTransforms
+
+[[autodoc]] lerobot.transforms.ImageTransforms
+    - all
+
+## ImageTransformsConfig
+
+[[autodoc]] lerobot.transforms.ImageTransformsConfig
+
+## ImageTransformConfig
+
+[[autodoc]] lerobot.transforms.ImageTransformConfig
+
+## make_transform_from_config
+
+[[autodoc]] lerobot.transforms.make_transform_from_config
+
+## RandomSubsetApply
+
+[[autodoc]] lerobot.transforms.RandomSubsetApply
+    - all
+
+## SharpnessJitter
+
+[[autodoc]] lerobot.transforms.SharpnessJitter
+    - all
+
+## GaussianNoise
+
+[[autodoc]] lerobot.transforms.GaussianNoise
+    - all
+
+## MotionBlur
+
+[[autodoc]] lerobot.transforms.MotionBlur
+    - all
+
+## JPEGCompression
+
+[[autodoc]] lerobot.transforms.JPEGCompression
+    - all
+
+## GaussianPatchBrightness
+
+[[autodoc]] lerobot.transforms.GaussianPatchBrightness
+    - all
+
+## RandomShadow
+
+[[autodoc]] lerobot.transforms.RandomShadow
+    - all
+
+## CoarseDropout
+
+[[autodoc]] lerobot.transforms.CoarseDropout
+    - all
+
+## GammaCorrection
+
+[[autodoc]] lerobot.transforms.GammaCorrection
+    - all
+
+## PlanckianJitter
+
+[[autodoc]] lerobot.transforms.PlanckianJitter
+    - all

pyproject.toml

@@ -454,8 +454,7 @@ ignore = [
 "src/lerobot/rl/**" = ["D"]
 "src/lerobot/rollout/**" = ["D"]
 "src/lerobot/scripts/**" = ["D"]
-"src/lerobot/teleoperators/teleoperator.py" = ["D"]
-"src/lerobot/transforms/**" = ["D"]
+"src/lerobot/teleoperators/**" = ["D"]
 "src/lerobot/transport/**" = ["D"]
 "src/lerobot/utils/**" = ["D"]
 "src/lerobot/lerobot_types.py" = ["D"]

src/lerobot/teleoperators/bi_openarm_leader/bi_openarm_leader.py

@@ -29,19 +29,14 @@ logger = logging.getLogger(__name__)
 
 
 class BiOpenArmLeader(BimanualMixin, Teleoperator):
-    """A bimanual pair of [`~teleoperators.openarm_leader.OpenArmLeader`] arms."""
+    """
+    Bimanual OpenArm Leader Arms
+    """
 
     config_class = BiOpenArmLeaderConfig
     name = "bi_openarm_leader"
 
     def __init__(self, config: BiOpenArmLeaderConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`BiOpenArmLeaderConfig`):
-                The teleoperator's configuration. Its `left_arm_config` and `right_arm_config` determine
-                what is connected on each side.
-        """
         super().__init__(config)
         self.config = config
 
@@ -80,10 +75,6 @@ class BiOpenArmLeader(BimanualMixin, Teleoperator):
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Merges both arms' features, each key prefixed with `left_` or `right_`.
-        """
         left_arm_features = self.left_arm.action_features
         right_arm_features = self.right_arm.action_features
 
@@ -94,31 +85,15 @@ class BiOpenArmLeader(BimanualMixin, Teleoperator):
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.feedback_features`].
-
-        Always empty: feedback is not implemented for the OpenArm leader.
-        """
         return {}
 
     def setup_motors(self) -> None:
-        """Not supported: raises `NotImplementedError`.
-
-        Motor ID configuration for CAN motors is typically done via manufacturer tools rather than through
-        LeRobot.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError(
             "Motor ID configuration is typically done via manufacturer tools for CAN motors."
         )
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """See [`~teleoperators.Teleoperator.get_action`].
-
-        Merges both arms' actions, each key prefixed with `left_` or `right_`.
-        """
         action_dict = {}
 
         # Add "left_" prefix
@@ -132,14 +107,5 @@ class BiOpenArmLeader(BimanualMixin, Teleoperator):
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: raises `NotImplementedError`.
-
-        Args:
-            feedback (`dict[str, float]`):
-                Unused.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         # TODO: Implement force feedback
         raise NotImplementedError

src/lerobot/teleoperators/bi_openarm_leader/config_bi_openarm_leader.py

@@ -23,23 +23,7 @@ from ..openarm_leader import OpenArmLeaderConfigBase
 @TeleoperatorConfig.register_subclass("bi_openarm_leader")
 @dataclass
 class BiOpenArmLeaderConfig(TeleoperatorConfig):
-    """Configuration for a bimanual pair of OpenArm leader arms.
-
-    The two arms are configured independently, then driven as one teleoperator: action keys from each arm
-    are prefixed with `left_` and `right_`.
-
-    Calibration is per arm, taken from each arm config's own `id` and `calibration_dir`.
-
-    Args:
-        left_arm_config (`OpenArmLeaderConfigBase`):
-            Configuration for the left arm, including its own `port` and `motor_config`.
-        right_arm_config (`OpenArmLeaderConfigBase`):
-            Configuration for the right arm, including its own `port` and `motor_config`.
-        id (`str`, *optional*):
-            Identifier for the pair as a whole.
-        calibration_dir (`Path`, *optional*):
-            Unused at this level; each arm calibrates through its own config.
-    """
+    """Configuration class for Bi OpenArm Leader teleoperators."""
 
     left_arm_config: OpenArmLeaderConfigBase
     right_arm_config: OpenArmLeaderConfigBase

src/lerobot/teleoperators/bi_openarm_mini/bi_openarm_mini.py

@@ -40,14 +40,6 @@ class BiOpenArmMini(BimanualMixin, Teleoperator):
     name = "bi_openarm_mini"
 
     def __init__(self, config: BiOpenArmMiniConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`BiOpenArmMiniConfig`):
-                The teleoperator's configuration. Its `left_arm_config` and `right_arm_config` determine
-                what is connected on each side; each arm's `side` is forced to `"left"`/`"right"`
-                regardless of what was set on the per-arm config.
-        """
         super().__init__(config)
         self.config = config
 
@@ -74,10 +66,6 @@ class BiOpenArmMini(BimanualMixin, Teleoperator):
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Merges both arms' features, each key prefixed with `left_` or `right_`.
-        """
         return {
             **{f"left_{k}": v for k, v in self.left_arm.action_features.items()},
             **{f"right_{k}": v for k, v in self.right_arm.action_features.items()},
@@ -85,30 +73,17 @@ class BiOpenArmMini(BimanualMixin, Teleoperator):
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.feedback_features`].
-
-        Merges both arms' features, each key prefixed with `left_` or `right_`.
-        """
         return {
             **{f"left_{k}": v for k, v in self.left_arm.feedback_features.items()},
             **{f"right_{k}": v for k, v in self.right_arm.feedback_features.items()},
         }
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID, one arm at a time.
-
-        Run this once when building the teleoperator. Interactive: prompts you to connect the controller
-        board to a single motor at a time, left arm first.
-        """
         self.left_arm.setup_motors()
         self.right_arm.setup_motors()
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """See [`~teleoperators.Teleoperator.get_action`].
-
-        Merges both arms' actions, each key prefixed with `left_` or `right_`.
-        """
         action: RobotAction = {}
         for k, v in self.left_arm.get_action().items():
             action[f"left_{k}"] = v
@@ -118,14 +93,6 @@ class BiOpenArmMini(BimanualMixin, Teleoperator):
 
     @check_if_not_connected
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """See [`~teleoperators.Teleoperator.send_feedback`].
-
-        Args:
-            feedback (`dict[str, float]`):
-                Feedback values keyed with `left_`/`right_` prefixes, as produced by
-                [`~teleoperators.bi_openarm_mini.BiOpenArmMini.get_action`]. Each arm only receives the entries for its
-                own side.
-        """
         left_fb = {k.removeprefix("left_"): v for k, v in feedback.items() if k.startswith("left_")}
         right_fb = {k.removeprefix("right_"): v for k, v in feedback.items() if k.startswith("right_")}
         if left_fb:

src/lerobot/teleoperators/bi_openarm_mini/config_bi_openarm_mini.py

@@ -23,18 +23,7 @@ from ..openarm_mini import OpenArmMiniConfigBase
 @TeleoperatorConfig.register_subclass("bi_openarm_mini")
 @dataclass
 class BiOpenArmMiniConfig(TeleoperatorConfig):
-    """Configuration for a bimanual pair of OpenArm Mini leader arms.
-
-    Args:
-        left_arm_config (`OpenArmMiniConfigBase`):
-            Configuration for the left arm.
-        right_arm_config (`OpenArmMiniConfigBase`):
-            Configuration for the right arm.
-        id (`str`, *optional*):
-            Identifier for this particular unit; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-    """
+    """Configuration class for Bi OpenArm Mini teleoperators."""
 
     left_arm_config: OpenArmMiniConfigBase
     right_arm_config: OpenArmMiniConfigBase

src/lerobot/teleoperators/bi_rebot_102_leader/bi_rebot_102_leader.py

@@ -40,12 +40,6 @@ class BiRebot102Leader(BimanualMixin, Teleoperator):
     name = "bi_rebot_102_leader"
 
     def __init__(self, config: BiRebot102LeaderConfig):
-        """Build the two underlying [`~teleoperators.rebot_102_leader.RebotArm102Leader`] arms.
-
-        Args:
-            config (`BiRebot102LeaderConfig`):
-                The teleoperator's configuration.
-        """
         super().__init__(config)
         self.config = config
 
@@ -74,11 +68,6 @@ class BiRebot102Leader(BimanualMixin, Teleoperator):
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        """The union of both arms' action features, each key prefixed `left_` / `right_`.
-
-        Returns:
-            `dict[str, type]`: See [`~teleoperators.rebot_102_leader.RebotArm102Leader.action_features`].
-        """
         return {
             **{f"left_{k}": v for k, v in self.left_arm.action_features.items()},
             **{f"right_{k}": v for k, v in self.right_arm.action_features.items()},
@@ -86,29 +75,14 @@ class BiRebot102Leader(BimanualMixin, Teleoperator):
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        """Neither arm accepts feedback.
-
-        Returns:
-            `dict[str, type]`: Always empty.
-        """
         return {}
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Read both arms' actions and merge them under `left_` / `right_` prefixed keys.
-
-        Returns:
-            `dict[str, float]`: See [`~teleoperators.rebot_102_leader.RebotArm102Leader.get_action`].
-        """
         action_dict = {}
         action_dict.update({f"left_{k}": v for k, v in self.left_arm.get_action().items()})
         action_dict.update({f"right_{k}": v for k, v in self.right_arm.get_action().items()})
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: neither arm has actuators to receive feedback.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError("Feedback is not implemented for the reBot Arm 102 leader.")

src/lerobot/teleoperators/bi_rebot_102_leader/config_bi_rebot_102_leader.py

@@ -23,23 +23,7 @@ from ..rebot_102_leader import RebotArm102LeaderConfig
 @TeleoperatorConfig.register_subclass("bi_rebot_102_leader")
 @dataclass
 class BiRebot102LeaderConfig(TeleoperatorConfig):
-    """Configuration class for the bimanual reBot Arm 102 leader teleoperator.
-
-    Args:
-        left_arm_config (`RebotArm102LeaderConfig`):
-            Configuration of the left [`~teleoperators.rebot_102_leader.RebotArm102Leader`] arm. Its
-            `id` and `calibration_dir` are ignored; the bimanual `id` and `calibration_dir` below are
-            used for both arms instead.
-        right_arm_config (`RebotArm102LeaderConfig`):
-            Configuration of the right [`~teleoperators.rebot_102_leader.RebotArm102Leader`] arm. Same
-            caveat as `left_arm_config`.
-        id (`str`, *optional*):
-            Identifier for this particular unit; also names the calibration files for both arms
-            (suffixed `_left` / `_right`).
-        calibration_dir (`Path`, *optional*):
-            Where to read and write both arms' calibration files. Defaults to the LeRobot calibration
-            home.
-    """
+    """Configuration class for the bimanual reBot Arm 102 leader teleoperator."""
 
     left_arm_config: RebotArm102LeaderConfig
     right_arm_config: RebotArm102LeaderConfig

src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py

@@ -29,19 +29,14 @@ logger = logging.getLogger(__name__)
 
 
 class BiSOLeader(BimanualMixin, Teleoperator):
-    """A bimanual pair of [SO leader arms](https://github.com/TheRobotStudio/SO-ARM100) by TheRobotStudio."""
+    """
+    [Bimanual SO Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    """
 
     config_class = BiSOLeaderConfig
     name = "bi_so_leader"
 
     def __init__(self, config: BiSOLeaderConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`BiSOLeaderConfig`):
-                The teleoperator's configuration. Its `left_arm_config` and `right_arm_config` determine
-                what is connected.
-        """
         super().__init__(config)
         self.config = config
 
@@ -66,12 +61,6 @@ class BiSOLeader(BimanualMixin, Teleoperator):
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        """The values this teleoperator produces, and their types.
-
-        Returns:
-            `dict[str, type]`: Each arm's [`~teleoperators.so_leader.SOLeader.action_features`] keys,
-            prefixed with `left_` or `right_`.
-        """
         left_arm_features = self.left_arm.action_features
         right_arm_features = self.right_arm.action_features
 
@@ -82,12 +71,6 @@ class BiSOLeader(BimanualMixin, Teleoperator):
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        """The values this teleoperator accepts as feedback, and their types.
-
-        Returns:
-            `dict[str, type]`: Each arm's [`~teleoperators.so_leader.SOLeader.feedback_features`] keys,
-            prefixed with `left_` or `right_`.
-        """
         # Bimanual teleop has feedback (can be actuated for handover).
         # Return the same structure as action_features for consistency with left/right arms.
         left_arm_features = self.left_arm.feedback_features
@@ -99,25 +82,11 @@ class BiSOLeader(BimanualMixin, Teleoperator):
         }
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID on both arms, one at a time.
-
-        Run this once when building the teleoperator. Interactive: prompts you to connect the controller
-        board to a single motor at a time, left arm first.
-        """
         self.left_arm.setup_motors()
         self.right_arm.setup_motors()
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Retrieve the current action from both leader arms.
-
-        Returns:
-            `dict[str, Any]`: Each arm's action, keyed as described by
-            [`~teleoperators.bi_so_leader.BiSOLeader.action_features`].
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
-        """
         action_dict = {}
 
         # Add "left_" prefix

src/lerobot/teleoperators/bi_so_leader/config_bi_so_leader.py

@@ -23,18 +23,7 @@ from ..so_leader import SOLeaderConfig
 @TeleoperatorConfig.register_subclass("bi_so_leader")
 @dataclass
 class BiSOLeaderConfig(TeleoperatorConfig):
-    """Configuration for a bimanual pair of SO-family leader arms.
-
-    Args:
-        left_arm_config (`SOLeaderConfig`):
-            Configuration for the left arm.
-        right_arm_config (`SOLeaderConfig`):
-            Configuration for the right arm.
-        id (`str`, *optional*):
-            Identifier for this particular unit; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-    """
+    """Configuration class for Bi SO Leader teleoperators."""
 
     left_arm_config: SOLeaderConfig
     right_arm_config: SOLeaderConfig

src/lerobot/teleoperators/config.py

@@ -21,21 +21,6 @@ import draccus
 
 @dataclass(kw_only=True)
 class TeleoperatorConfig(draccus.ChoiceRegistry, abc.ABC):
-    """Base configuration shared by every teleoperator.
-
-    Concrete teleoperators subclass this and register themselves with
-    `@TeleoperatorConfig.register_subclass("name")`, which is what makes `--teleop.type=name` work on the
-    command line. Subclasses inherit the two fields below and must document them alongside their own.
-
-    Args:
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     # Allows to distinguish between different teleoperators of the same type
     id: str | None = None
     # Directory to store calibration file
@@ -43,9 +28,4 @@ class TeleoperatorConfig(draccus.ChoiceRegistry, abc.ABC):
 
     @property
     def type(self) -> str:
-        """Return the registered name this config was registered under.
-
-        Returns:
-            `str`: The name passed to `@TeleoperatorConfig.register_subclass`, e.g. `"so101_leader"`.
-        """
         return self.get_choice_name(self.__class__)

src/lerobot/teleoperators/gamepad/configuration_gamepad.py

@@ -22,22 +22,6 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("gamepad")
 @dataclass
 class GamepadTeleopConfig(TeleoperatorConfig):
-    """Configuration for the gamepad teleoperator.
-
-    Args:
-        use_gripper (`bool`, *optional*, defaults to `True`):
-            Whether to include a `gripper` entry in the produced actions.
-        hidapi_fallback (`bool`, *optional*, defaults to `False`):
-            Read the gamepad through `hidapi` instead of `pygame`. Set this on macOS if `pygame` does not
-            reliably detect input from your controller.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     use_gripper: bool = True
     # Use hidapi instead of pygame for controllers that pygame cannot detect reliably.
     hidapi_fallback: bool = False

src/lerobot/teleoperators/gamepad/gamepad_utils.py

@@ -34,88 +34,68 @@ else:
 
 
 class InputController:
-    """Base class for input controllers that generate motion deltas for gamepad-style teleoperation.
-
-    Subclasses override `start`, `stop`, `update`, and `get_deltas` to read an actual device; this base
-    class returns inert defaults.
-    """
+    """Base class for input controllers that generate motion deltas."""
 
     def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0):
-        """Instantiate the controller's step sizes and reset its state.
+        """
+        Initialize the controller.
 
         Args:
-            x_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along X, in meters.
-            y_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Y, in meters.
-            z_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Z, in meters.
+            x_step_size: Base movement step size in meters
+            y_step_size: Base movement step size in meters
+            z_step_size: Base movement step size in meters
         """
         self.x_step_size = x_step_size
         self.y_step_size = y_step_size
         self.z_step_size = z_step_size
         self.running = True
-        self.episode_end_status = None  # None, or a TeleopEvents member (SUCCESS, FAILURE, RERECORD_EPISODE)
+        self.episode_end_status = None  # None, "success", or "failure"
         self.intervention_flag = False
         self.open_gripper_command = False
         self.close_gripper_command = False
 
     def start(self):
-        """Start the controller and initialize resources. Subclasses open the actual device here."""
+        """Start the controller and initialize resources."""
         pass
 
     def stop(self):
-        """Stop the controller and release resources. Subclasses close the actual device here."""
+        """Stop the controller and release resources."""
         pass
 
     def get_deltas(self):
-        """Get the current movement deltas.
-
-        Returns:
-            `tuple[float, float, float]`: `(dx, dy, dz)` in meters. Always `(0.0, 0.0, 0.0)` on the base
-            class.
-        """
+        """Get the current movement deltas (dx, dy, dz) in meters."""
         return 0.0, 0.0, 0.0
 
     def update(self):
-        """Refresh the controller's internal state. Call this once per frame before reading deltas or events."""
+        """Update controller state - call this once per frame."""
         pass
 
     def __enter__(self):
-        """Support for use in `with` statements. Calls `start`."""
+        """Support for use in 'with' statements."""
         self.start()
         return self
 
     def __exit__(self, exc_type, exc_val, exc_tb):
-        """Ensure resources are released when exiting a `with` block, even on error."""
+        """Ensure resources are released when exiting 'with' block."""
         self.stop()
 
     def get_episode_end_status(self):
-        """Read and clear the current episode end status.
+        """
+        Get the current episode end status.
 
         Returns:
-            `TeleopEvents | None`: `None` if the episode should continue, otherwise whichever
-            [`~teleoperators.TeleopEvents`] member (e.g. `SUCCESS`, `FAILURE`, `RERECORD_EPISODE`) a
-            subclass most recently recorded.
+            None if episode should continue, "success" or "failure" otherwise
         """
         status = self.episode_end_status
         self.episode_end_status = None  # Reset after reading
         return status
 
     def should_intervene(self):
-        """Whether the intervention flag is currently set.
-
-        Returns:
-            `bool`: `True` if a human is currently intervening.
-        """
+        """Return True if intervention flag was set."""
         return self.intervention_flag
 
     def gripper_command(self):
-        """Derive a gripper command from the open/close button flags.
-
-        Returns:
-            `str`: `"open"` or `"close"` if exactly one of the flags is set, `"stay"` otherwise.
-        """
+        """Return the current gripper command."""
         if self.open_gripper_command == self.close_gripper_command:
             return "stay"
         elif self.open_gripper_command:
@@ -125,14 +105,9 @@ class InputController:
 
 
 class KeyboardController(InputController):
-    """Generate motion deltas from keyboard input via `pynput`, as an alternative to a physical gamepad.
-
-    Arrow keys drive X/Y, shift/shift_r drive Z, `enter`/`backspace` end the episode with success/failure,
-    and `esc` stops the listener.
-    """
+    """Generate motion deltas from keyboard input."""
 
     def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0):
-        """See `InputController.__init__`; the step sizes have the same meaning here."""
         super().__init__(x_step_size, y_step_size, z_step_size)
         self.key_states = {
             "forward_x": False,
@@ -148,7 +123,7 @@ class KeyboardController(InputController):
         self.listener = None
 
     def start(self):
-        """Start the `pynput` keyboard listener, if the current session can capture key events."""
+        """Start the keyboard listener."""
         if not pynput_can_capture():
             logging.warning(
                 "Keyboard control is unavailable in this environment. pynput cannot capture keys "
@@ -161,7 +136,6 @@ class KeyboardController(InputController):
         from pynput import keyboard
 
         def on_press(key):
-            """Update key/episode state for a key-down event."""
             try:
                 if key == keyboard.Key.up:
                     self.key_states["forward_x"] = True
@@ -189,7 +163,6 @@ class KeyboardController(InputController):
                 pass
 
         def on_release(key):
-            """Update key state for a key-up event."""
             try:
                 if key == keyboard.Key.up:
                     self.key_states["forward_x"] = False
@@ -221,16 +194,12 @@ class KeyboardController(InputController):
         print("  ESC: Exit")
 
     def stop(self):
-        """Stop the `pynput` keyboard listener."""
+        """Stop the keyboard listener."""
         if self.listener and self.listener.is_alive():
             self.listener.stop()
 
     def get_deltas(self):
-        """Get the current movement deltas from held-down arrow/shift keys.
-
-        Returns:
-            `tuple[float, float, float]`: `(dx, dy, dz)` in meters.
-        """
+        """Get the current movement deltas from keyboard state."""
         delta_x = delta_y = delta_z = 0.0
 
         if self.key_states["forward_x"]:
@@ -250,29 +219,9 @@ class KeyboardController(InputController):
 
 
 class GamepadController(InputController):
-    """Generate motion deltas from gamepad input via `pygame`.
-
-    Left stick drives X/Y, the right stick's vertical axis drives Z. Y/Triangle, A/Cross, and X/Square
-    end the episode with success, failure, or rerecord respectively; RB/LT open and close the gripper;
-    holding RB also sets the intervention flag.
-    """
+    """Generate motion deltas from gamepad input."""
 
     def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0, deadzone=0.1):
-        """Instantiate the controller.
-
-        Args:
-            x_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along X, in meters.
-            y_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Y, in meters.
-            z_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Z, in meters.
-            deadzone (`float`, *optional*, defaults to 0.1):
-                Minimum absolute stick reading before it is treated as input, to filter out drift.
-
-        Raises:
-            ImportError: If `pygame` is not installed.
-        """
         require_package("pygame", extra="gamepad")
         super().__init__(x_step_size, y_step_size, z_step_size)
         self.deadzone = deadzone
@@ -280,7 +229,7 @@ class GamepadController(InputController):
         self.intervention_flag = False
 
     def start(self):
-        """Initialize `pygame` and connect to the first detected joystick."""
+        """Initialize pygame and the gamepad."""
         pygame.init()
         pygame.joystick.init()
 
@@ -302,7 +251,7 @@ class GamepadController(InputController):
         print("  X/Square button: Rerecord episode")
 
     def stop(self):
-        """Clean up `pygame` joystick and display resources."""
+        """Clean up pygame resources."""
         if pygame.joystick.get_init():
             if self.joystick:
                 self.joystick.quit()
@@ -310,7 +259,7 @@ class GamepadController(InputController):
         pygame.quit()
 
     def update(self):
-        """Drain pending `pygame` events to refresh button, episode, and intervention state."""
+        """Process pygame events to get fresh gamepad readings."""
         for event in pygame.event.get():
             if event.type == pygame.JOYBUTTONDOWN:
                 if event.button == 3:
@@ -348,12 +297,7 @@ class GamepadController(InputController):
                 self.intervention_flag = False
 
     def get_deltas(self):
-        """Get the current movement deltas from the joystick axes, after applying the deadzone.
-
-        Returns:
-            `tuple[float, float, float]`: `(dx, dy, dz)` in meters. `(0.0, 0.0, 0.0)` if reading the
-            joystick raises `pygame.error` (e.g. the controller was disconnected).
-        """
+        """Get the current movement deltas from gamepad state."""
         try:
             # Read joystick axes
             # Left stick X and Y (typically axes 0 and 1)
@@ -381,12 +325,7 @@ class GamepadController(InputController):
 
 
 class GamepadControllerHID(InputController):
-    """Generate motion deltas from gamepad input by reading raw HID reports via `hidapi`.
-
-    An alternative to `GamepadController` for controllers `pygame` does not reliably detect (notably on
-    macOS). Byte offsets in `update` are tuned for the Logitech RumblePad 2 and may need adjusting for
-    other controllers.
-    """
+    """Generate motion deltas from gamepad input using HIDAPI."""
 
     def __init__(
         self,
@@ -395,20 +334,13 @@ class GamepadControllerHID(InputController):
         z_step_size=1.0,
         deadzone=0.1,
     ):
-        """Instantiate the controller.
+        """
+        Initialize the HID gamepad controller.
 
         Args:
-            x_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along X, in meters.
-            y_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Y, in meters.
-            z_step_size (`float`, *optional*, defaults to 1.0):
-                Movement step size along Z, in meters.
-            deadzone (`float`, *optional*, defaults to 0.1):
-                Minimum absolute stick reading before it is treated as input, to filter out drift.
-
-        Raises:
-            ImportError: If `hidapi` is not installed.
+            step_size: Base movement step size in meters
+            z_scale: Scaling factor for Z-axis movement
+            deadzone: Joystick deadzone to prevent drift
         """
         require_package("hidapi", extra="gamepad", import_name="hid")
         super().__init__(x_step_size, y_step_size, z_step_size)
@@ -426,14 +358,7 @@ class GamepadControllerHID(InputController):
         self.buttons = {}
 
     def find_device(self):
-        """Look for a supported gamepad among enumerated HID devices.
-
-        Matches the first device whose product string contains `"Logitech"`, `"Xbox"`, `"PS4"`, or
-        `"PS5"`.
-
-        Returns:
-            `dict | None`: The `hidapi` device info dict, or `None` if no matching device was found.
-        """
+        """Look for the gamepad device by vendor and product ID."""
         devices = hid.enumerate()
         for device in devices:
             device_name = device["product_string"]
@@ -446,7 +371,7 @@ class GamepadControllerHID(InputController):
         return None
 
     def start(self):
-        """Find and open the gamepad's HID device in non-blocking mode."""
+        """Connect to the gamepad using HIDAPI."""
         self.device_info = self.find_device()
         if not self.device_info:
             self.running = False
@@ -481,9 +406,9 @@ class GamepadControllerHID(InputController):
             self.device = None
 
     def update(self):
-        """Read and process the latest gamepad HID report.
-
-        Reads the device 10 times in a row, since a single `hidapi` read can otherwise return stale data.
+        """
+        Read and process the latest gamepad data.
+        Due to an issue with the HIDAPI, we need to read the read the device several times in order to get a stable reading
         """
         for _ in range(10):
             self._update()
@@ -539,11 +464,7 @@ class GamepadControllerHID(InputController):
             logging.error(f"Error reading from gamepad: {e}")
 
     def get_deltas(self):
-        """Get the current movement deltas from the last-read HID report.
-
-        Returns:
-            `tuple[float, float, float]`: `(dx, dy, dz)` in meters.
-        """
+        """Get the current movement deltas from gamepad state."""
         # Calculate deltas - invert as needed based on controller orientation
         delta_x = -self.left_x * self.x_step_size  # Forward/backward
         delta_y = -self.left_y * self.y_step_size  # Left/right

src/lerobot/teleoperators/gamepad/teleop_gamepad.py

@@ -32,14 +32,6 @@ logger = logging.getLogger(__name__)
 
 
 class GripperAction(IntEnum):
-    """Gripper command levels produced by a gamepad's gripper buttons.
-
-    **Attributes**:
-        - **CLOSE** (`int`) -- Close the gripper.
-        - **STAY** (`int`) -- Leave the gripper where it is.
-        - **OPEN** (`int`) -- Open the gripper.
-    """
-
     CLOSE = 0
     STAY = 1
     OPEN = 2
@@ -53,24 +45,14 @@ gripper_action_map = {
 
 
 class GamepadTeleop(Teleoperator):
-    """Teleoperator that reads a gamepad's analog sticks and buttons via `pygame` (or `hidapi`).
-
-    [`~teleoperators.Teleoperator.get_action`] reports the left stick as `delta_x`/`delta_y` and the
-    right stick's vertical axis as `delta_z`, plus an optional gripper command. See `gamepad_utils.py`'s
-    `GamepadController` (`pygame`) and `GamepadControllerHID` (`hidapi`) for the exact axis/button
-    mapping.
+    """
+    Teleop class to use gamepad inputs for control.
     """
 
     config_class = GamepadTeleopConfig
     name = "gamepad"
 
     def __init__(self, config: GamepadTeleopConfig):
-        """Instantiate the teleoperator.
-
-        Args:
-            config (`GamepadTeleopConfig`):
-                Configuration for this gamepad teleoperator.
-        """
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
@@ -86,12 +68,6 @@ class GamepadTeleop(Teleoperator):
 
     @property
     def action_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict`: A 3-element (or 4-element if `config.use_gripper` is `True`) `float32` vector named
-            `delta_x`, `delta_y`, `delta_z`, and optionally `gripper`.
-        """
         if self.config.use_gripper:
             return {
                 "dtype": "float32",
@@ -107,15 +83,9 @@ class GamepadTeleop(Teleoperator):
 
     @property
     def feedback_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.feedback_features`]. `GamepadTeleop` accepts no feedback."""
         return {}
 
     def connect(self) -> None:
-        """See [`~teleoperators.Teleoperator.connect`].
-
-        Starts a `GamepadControllerHID` if `config.hidapi_fallback` is `True`, otherwise a
-        `GamepadController`.
-        """
         if self.hidapi_fallback:
             from .gamepad_utils import GamepadControllerHID as Gamepad
         else:
@@ -126,18 +96,6 @@ class GamepadTeleop(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Read the gamepad's current stick positions and gripper button state.
-
-        The left analog stick drives `delta_x`/`delta_y`; the right stick's vertical axis drives
-        `delta_z`. When `config.use_gripper` is `True`, the gripper buttons additionally produce a
-        `gripper` entry (one of `GripperAction.CLOSE`, `STAY`, or `OPEN`).
-
-        Returns:
-            `dict[str, Any]`: `delta_x`, `delta_y`, `delta_z`, and, if enabled, `gripper`.
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
-        """
         # Update the controller to get fresh inputs
         self.gamepad.update()
 
@@ -163,15 +121,16 @@ class GamepadTeleop(Teleoperator):
         return action_dict
 
     def get_teleop_events(self) -> dict[str, Any]:
-        """Read auxiliary gamepad events used to drive episode control during recording.
-
-        Holding the intervention button counts as an active intervention; the success/failure/rerecord
-        buttons are read once as one-shot signals, then cleared.
+        """
+        Get extra control events from the gamepad such as intervention status,
+        episode termination, success indicators, etc.
 
         Returns:
-            `dict[TeleopEvents, bool]`: Values for the [`~teleoperators.TeleopEvents`] keys
-            `IS_INTERVENTION`, `TERMINATE_EPISODE`, `SUCCESS`, and `RERECORD_EPISODE`. All `False` if
-            [`~teleoperators.Teleoperator.connect`] has not been called yet.
+            Dictionary containing:
+                - is_intervention: bool - Whether human is currently intervening
+                - terminate_episode: bool - Whether to terminate the current episode
+                - success: bool - Whether the episode was successful
+                - rerecord_episode: bool - Whether to rerecord the episode
         """
         if self.gamepad is None:
             return {
@@ -204,32 +163,32 @@ class GamepadTeleop(Teleoperator):
         }
 
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`]. Stops and releases the underlying controller."""
+        """Disconnect from the gamepad."""
         if self.gamepad is not None:
             self.gamepad.stop()
             self.gamepad = None
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`]."""
+        """Check if gamepad is connected."""
         return self.gamepad is not None
 
     def calibrate(self) -> None:
-        """See [`~teleoperators.Teleoperator.calibrate`]. No-op: the gamepad does not require calibration."""
+        """Calibrate the gamepad."""
         # No calibration needed for gamepad
         pass
 
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`]. Always `True`: no calibration is required."""
+        """Check if gamepad is calibrated."""
         # Gamepad doesn't require calibration
         return True
 
     def configure(self) -> None:
-        """See [`~teleoperators.Teleoperator.configure`]. No-op: the gamepad needs no configuration."""
+        """Configure the gamepad."""
         # No additional configuration needed
         pass
 
     def send_feedback(self, feedback: dict) -> None:
-        """See [`~teleoperators.Teleoperator.send_feedback`]. No-op: `GamepadTeleop` accepts no feedback."""
+        """Send feedback to the gamepad."""
         # Gamepad doesn't support feedback
         pass

src/lerobot/teleoperators/homunculus/config_homunculus.py

@@ -22,34 +22,11 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("homunculus_glove")
 @dataclass
 class HomunculusGloveConfig(TeleoperatorConfig):
-    """Configuration for the Homunculus Glove teleoperator.
-
-    Args:
-        port (`str`):
-            Serial port the glove is connected to, e.g. `/dev/ttyACM0`.
-        side (`str`):
-            Which hand the glove is worn on, `"left"` or `"right"`. Selects which joints get their drive
-            mode inverted so the produced action matches the HopeJR hand convention.
-        baud_rate (`int`, *optional*, defaults to 115200):
-            Serial communication speed in bauds.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     port: str  # Port to connect to the glove
     side: str  # "left" / "right"
     baud_rate: int = 115_200
 
     def __post_init__(self):
-        """Validate that `side` is one of `"left"` or `"right"`.
-
-        Raises:
-            ValueError: If `side` is neither `"left"` nor `"right"`.
-        """
         if self.side not in ["right", "left"]:
             raise ValueError(self.side)
 
@@ -57,20 +34,5 @@ class HomunculusGloveConfig(TeleoperatorConfig):
 @TeleoperatorConfig.register_subclass("homunculus_arm")
 @dataclass
 class HomunculusArmConfig(TeleoperatorConfig):
-    """Configuration for the Homunculus Arm teleoperator.
-
-    Args:
-        port (`str`):
-            Serial port the arm is connected to, e.g. `/dev/ttyACM0`.
-        baud_rate (`int`, *optional*, defaults to 115200):
-            Serial communication speed in bauds.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     port: str  # Port to connect to the arm
     baud_rate: int = 115_200

src/lerobot/teleoperators/homunculus/homunculus_arm.py

@@ -37,25 +37,14 @@ logger = logging.getLogger(__name__)
 
 
 class HomunculusArm(Teleoperator):
-    """Homunculus Arm designed by Hugging Face: a wearable exoskeleton arm read over a serial link.
-
-    The arm streams raw encoder values for each joint continuously over a background thread; readings are
-    smoothed with an exponential moving average before being normalized and returned as an action. It only
-    produces actions and accepts no feedback.
-
-    See [`~teleoperators.Teleoperator`] for the contract every method here implements.
+    """
+    Homunculus Arm designed by Hugging Face.
     """
 
     config_class = HomunculusArmConfig
     name = "homunculus_arm"
 
     def __init__(self, config: HomunculusArmConfig):
-        """Open the serial connection and set up the background reader thread.
-
-        Args:
-            config (`HomunculusArmConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected.
-        """
         require_package("pyserial", extra="pyserial-dep", import_name="serial")
         super().__init__(config)
         self.config = config
@@ -99,43 +88,19 @@ class HomunculusArm(Teleoperator):
 
     @property
     def action_features(self) -> dict:
-        """The arm's joint positions.
-
-        Returns:
-            `dict`: `"<joint>.pos"` keys mapped to `float`, one per entry in `self.joints`.
-        """
         return {f"{joint}.pos": float for joint in self.joints}
 
     @property
     def feedback_features(self) -> dict:
-        """This arm accepts no feedback.
-
-        Returns:
-            `dict`: Always empty.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`].
-
-        The serial port is open and the background reader thread is alive.
-        """
         with self.serial_lock:
             return self.serial.is_open and self.thread.is_alive()
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Open the serial port, start the background reader thread, and wait for the first reading.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run calibration when no calibration file exists yet. Calibration is
-                interactive and prompts on stdin.
-
-        Raises:
-            TimeoutError: If no state is received from the arm within 2 seconds of starting.
-        """
         if not self.serial.is_open:
             self.serial.open()
         self.thread.start()
@@ -151,19 +116,9 @@ class HomunculusArm(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Whether a calibration file has been saved for this arm.
-
-        Returns:
-            `bool`: `True` if the calibration file exists on disk.
-        """
         return self.calibration_fpath.is_file()
 
     def calibrate(self) -> None:
-        """Interactively record each joint's range of motion and save it as the arm's calibration.
-
-        Prompts the operator to move every joint through its full range, then persists the observed
-        min/max encoder values to the calibration file.
-        """
         print(
             "\nMove all joints through their entire range of motion."
             "\nRecording positions. Press ENTER to stop..."
@@ -242,7 +197,6 @@ class HomunculusArm(Teleoperator):
         return mins, maxes
 
     def configure(self) -> None:
-        """No-op: the arm requires no runtime configuration beyond calibration."""
         pass
 
     # TODO(Steven): This function is copy/paste from the `HomunculusGlove` class. Consider moving it to an utility to reduce duplicated code.
@@ -285,9 +239,9 @@ class HomunculusArm(Teleoperator):
     def _read(
         self, joints: list[str] | None = None, normalize: bool = True, timeout: float = 1
     ) -> dict[str, int | float]:
-        """Return the most recent values from the reader thread.
-
-        Optionally applies calibration.
+        """
+        Return the most recent (single) values from self.last_d,
+        optionally applying calibration.
         """
         if not self.new_state_event.wait(timeout=timeout):
             raise TimeoutError(f"{self}: Timed out waiting for state after {timeout}s.")
@@ -311,9 +265,9 @@ class HomunculusArm(Teleoperator):
         return state
 
     def _read_loop(self):
-        """Continuously read from the serial buffer in its own thread.
-
-        Sends values to the main thread through a queue.
+        """
+        Continuously read from the serial buffer in its own thread and sends values to the main thread through
+        a queue.
         """
         while not self.stop_event.is_set():
             try:
@@ -351,28 +305,14 @@ class HomunculusArm(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Read the most recent EMA-smoothed, normalized joint positions.
-
-        Returns:
-            `dict[str, float]`: `"<joint>.pos"` keys mapped to their normalized position.
-
-        Raises:
-            TimeoutError: If no new reading arrives from the background thread within 1 second.
-        """
         joint_positions = self._read()
         return {f"{joint}.pos": pos for joint, pos in joint_positions.items()}
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: the arm has no actuators to receive feedback.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Stop the background reader thread and close the serial port."""
         self.stop_event.set()
         self.thread.join(timeout=1)
         self.serial.close()

src/lerobot/teleoperators/homunculus/homunculus_glove.py

@@ -63,27 +63,14 @@ RIGHT_HAND_INVERSIONS = [
 
 
 class HomunculusGlove(Teleoperator):
-    """Homunculus Glove designed by NepYope & Hugging Face: a wearable exoskeleton glove read over a serial link.
-
-    The glove streams raw encoder values for each finger joint continuously over a background thread;
-    readings are smoothed with an exponential moving average, normalized, then remapped from glove joint
-    names to HopeJR hand joint names via [`~teleoperators.homunculus.homunculus_glove_to_hope_jr_hand`]. It
-    only produces actions and accepts no feedback.
-
-    See [`~teleoperators.Teleoperator`] for the contract every method here implements.
+    """
+    Homunculus Glove designed by NepYope & Hugging Face.
     """
 
     config_class = HomunculusGloveConfig
     name = "homunculus_glove"
 
     def __init__(self, config: HomunculusGloveConfig):
-        """Open the serial connection and set up the background reader thread.
-
-        Args:
-            config (`HomunculusGloveConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected and `side`
-                selects which joints are inverted for the left vs. right hand.
-        """
         require_package("pyserial", extra="pyserial-dep", import_name="serial")
         super().__init__(config)
         self.config = config
@@ -127,43 +114,19 @@ class HomunculusGlove(Teleoperator):
 
     @property
     def action_features(self) -> dict:
-        """The glove's raw per-joint positions, before remapping to HopeJR hand joint names.
-
-        Returns:
-            `dict`: `"<joint>.pos"` keys mapped to `float`, one per entry in `self.joints`.
-        """
         return {f"{joint}.pos": float for joint in self.joints}
 
     @property
     def feedback_features(self) -> dict:
-        """This glove accepts no feedback.
-
-        Returns:
-            `dict`: Always empty.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`].
-
-        The serial port is open and the background reader thread is alive.
-        """
         with self.serial_lock:
             return self.serial.is_open and self.thread.is_alive()
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Open the serial port, start the background reader thread, and wait for the first reading.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run calibration when no calibration file exists yet. Calibration is
-                interactive and prompts on stdin.
-
-        Raises:
-            TimeoutError: If no state is received from the glove within 2 seconds of starting.
-        """
         if not self.serial.is_open:
             self.serial.open()
         self.thread.start()
@@ -179,19 +142,9 @@ class HomunculusGlove(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Whether a calibration file has been saved for this glove.
-
-        Returns:
-            `bool`: `True` if the calibration file exists on disk.
-        """
         return self.calibration_fpath.is_file()
 
     def calibrate(self) -> None:
-        """Interactively record each finger's range of motion and save it as the glove's calibration.
-
-        Prompts the operator to move each finger through its full range, one finger at a time, then
-        persists the observed min/max encoder values to the calibration file.
-        """
         range_mins, range_maxes = {}, {}
         for finger in ["thumb", "index", "middle", "ring", "pinky"]:
             print(
@@ -275,7 +228,6 @@ class HomunculusGlove(Teleoperator):
         return mins, maxes
 
     def configure(self) -> None:
-        """No-op: the glove requires no runtime configuration beyond calibration."""
         pass
 
     # TODO(Steven): This function is copy/paste from the `HomunculusArm` class. Consider moving it to an utility to reduce duplicated code.
@@ -319,9 +271,9 @@ class HomunculusGlove(Teleoperator):
     def _read(
         self, joints: list[str] | None = None, normalize: bool = True, timeout: float = 1
     ) -> dict[str, int | float]:
-        """Return the most recent values from the reader thread.
-
-        Optionally applies calibration.
+        """
+        Return the most recent (single) values from self.last_d,
+        optionally applying calibration.
         """
         if not self.new_state_event.wait(timeout=timeout):
             raise TimeoutError(f"{self}: Timed out waiting for state after {timeout}s.")
@@ -347,9 +299,9 @@ class HomunculusGlove(Teleoperator):
         return state
 
     def _read_loop(self):
-        """Continuously read from the serial buffer in its own thread.
-
-        Sends values to the main thread through a queue.
+        """
+        Continuously read from the serial buffer in its own thread and sends values to the main thread through
+        a queue.
         """
         while not self.stop_event.is_set():
             try:
@@ -379,32 +331,16 @@ class HomunculusGlove(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Read the most recent EMA-smoothed, normalized joint positions, remapped to HopeJR hand joints.
-
-        Returns:
-            `dict[str, float]`: `"<joint>.pos"` keys, named after the HopeJR hand's joints, mapped to
-            their normalized position. See
-            [`~teleoperators.homunculus.homunculus_glove_to_hope_jr_hand`] for the remapping.
-
-        Raises:
-            TimeoutError: If no new reading arrives from the background thread within 1 second.
-        """
         joint_positions = self._read()
         return homunculus_glove_to_hope_jr_hand(
             {f"{joint}.pos": pos for joint, pos in joint_positions.items()}
         )
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: the glove has no actuators to receive feedback.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Stop the background reader thread and close the serial port."""
         self.stop_event.set()
         self.thread.join(timeout=1)
         self.serial.close()

src/lerobot/teleoperators/homunculus/joints_translation.py

@@ -19,67 +19,14 @@ PINKY_SPLAY = 0.5
 
 
 def get_ulnar_flexion(flexion: float, abduction: float, splay: float):
-    """Derive the ulnar-side tendon command for a HopeJR finger from its glove-sensed MCP angles.
-
-    The HopeJR hand flexes a finger with a pair of opposing tendons (radial and ulnar) rather than
-    independent flexion and abduction joints. This blends the glove's flexion and abduction readings for
-    one MCP joint into the ulnar tendon's share of the motion: an abduction toward the ulnar side pulls
-    this tendon further, while `splay` sets how much of the abduction reading leaks into it versus pure
-    flexion.
-
-    Args:
-        flexion (`float`):
-            MCP flexion reading for the finger, as reported by the glove.
-        abduction (`float`):
-            MCP abduction reading for the finger, as reported by the glove. Positive values pull toward
-            the radial side and are subtracted here.
-        splay (`float`):
-            Fraction, in `[0, 1]`, of the tendon command driven by abduction rather than flexion.
-
-    Returns:
-        `float`: The ulnar tendon's target position.
-    """
     return -abduction * splay + flexion * (1 - splay)
 
 
 def get_radial_flexion(flexion: float, abduction: float, splay: float):
-    """Derive the radial-side tendon command for a HopeJR finger from its glove-sensed MCP angles.
-
-    The counterpart to [`get_ulnar_flexion`]: same blend of flexion and abduction, but abduction toward
-    the radial side adds to this tendon's target instead of subtracting from it.
-
-    Args:
-        flexion (`float`):
-            MCP flexion reading for the finger, as reported by the glove.
-        abduction (`float`):
-            MCP abduction reading for the finger, as reported by the glove. Positive values pull toward
-            the radial side and are added here.
-        splay (`float`):
-            Fraction, in `[0, 1]`, of the tendon command driven by abduction rather than flexion.
-
-    Returns:
-        `float`: The radial tendon's target position.
-    """
     return abduction * splay + flexion * (1 - splay)
 
 
 def homunculus_glove_to_hope_jr_hand(glove_action: dict[str, float]) -> dict[str, float]:
-    """Translate a Homunculus Glove action into a HopeJR hand action.
-
-    The glove reports one flexion and one abduction value per finger's MCP joint, plus a DIP/PIP reading,
-    while the HopeJR hand is driven by a pair of tendons (radial and ulnar flexors) per finger and a
-    coupled PIP/DIP joint. This remaps and blends the glove's per-joint keys into the hand's per-tendon
-    keys via [`get_radial_flexion`] and [`get_ulnar_flexion`]; the thumb, whose joints map one-to-one, is
-    passed through unchanged.
-
-    Args:
-        glove_action (`dict[str, float]`):
-            Action produced by [`~teleoperators.homunculus.HomunculusGlove.get_action`], keyed by glove
-            joint name.
-
-    Returns:
-        `dict[str, float]`: The equivalent action keyed by HopeJR hand joint name.
-    """
     return {
         "thumb_cmc.pos": glove_action["thumb_cmc.pos"],
         "thumb_mcp.pos": glove_action["thumb_mcp.pos"],

src/lerobot/teleoperators/keyboard/configuration_keyboard.py

@@ -23,16 +23,7 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("keyboard")
 @dataclass
 class KeyboardTeleopConfig(TeleoperatorConfig):
-    """Configuration for the plain keyboard teleoperator.
-
-    Args:
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
+    """KeyboardTeleopConfig"""
 
     # TODO(Steven): Consider setting in here the keys that we want to capture/listen
 
@@ -40,17 +31,12 @@ class KeyboardTeleopConfig(TeleoperatorConfig):
 @TeleoperatorConfig.register_subclass("keyboard_ee")
 @dataclass
 class KeyboardEndEffectorTeleopConfig(KeyboardTeleopConfig):
-    """Configuration for controlling a robot end-effector with keyboard inputs.
+    """Configuration for keyboard end-effector teleoperator.
 
-    Args:
-        use_gripper (`bool`, *optional*, defaults to `True`):
-            Whether to include a `gripper` entry in the produced actions.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
+    Used for controlling robot end-effectors with keyboard inputs.
+
+    **Attributes**:
+        - **use_gripper** (`bool`) -- Whether to include gripper control in actions
     """
 
     use_gripper: bool = True
@@ -59,29 +45,18 @@ class KeyboardEndEffectorTeleopConfig(KeyboardTeleopConfig):
 @TeleoperatorConfig.register_subclass("keyboard_rover")
 @dataclass
 class KeyboardRoverTeleopConfig(TeleoperatorConfig):
-    """Configuration for the WASD-style keyboard teleoperator for mobile robots like EarthRover Mini Plus.
+    """Configuration for keyboard rover teleoperator.
 
-    Args:
-        linear_speed (`float`, *optional*, defaults to 1.0):
-            Initial linear velocity magnitude (-1 to 1 range for SDK robots).
-        angular_speed (`float`, *optional*, defaults to 1.0):
-            Initial angular velocity magnitude (-1 to 1 range for SDK robots).
-        speed_increment (`float`, *optional*, defaults to 0.1):
-            Amount `current_linear_speed` changes by on each `+`/`-` key press.
-        turn_assist_ratio (`float`, *optional*, defaults to 0.3):
-            Forward-motion multiplier applied when turning with `a`/`d` while otherwise stationary.
-        angular_speed_ratio (`float`, *optional*, defaults to 0.6):
-            Ratio of angular to linear speed increment, so both scale together on `+`/`-`.
-        min_linear_speed (`float`, *optional*, defaults to 0.1):
-            Floor for `current_linear_speed` when decreasing it.
-        min_angular_speed (`float`, *optional*, defaults to 0.05):
-            Floor for `current_angular_speed` when decreasing it.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
+    Used for controlling mobile robots like EarthRover Mini Plus with WASD controls.
+
+    **Attributes**:
+        - **linear_speed** (`float`) -- Default linear velocity magnitude (-1 to 1 range for SDK robots)
+        - **angular_speed** (`float`) -- Default angular velocity magnitude (-1 to 1 range for SDK robots)
+        - **speed_increment** (`float`) -- Amount to increase/decrease speed with +/- keys
+        - **turn_assist_ratio** (`float`) -- Forward motion multiplier when turning with A/D keys (0.0-1.0)
+        - **angular_speed_ratio** (`float`) -- Ratio of angular to linear speed for synchronized adjustments
+        - **min_linear_speed** (`float`) -- Minimum linear speed when decreasing (prevents zero speed)
+        - **min_angular_speed** (`float`) -- Minimum angular speed when decreasing (prevents zero speed)
     """
 
     linear_speed: float = 1.0

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -43,28 +43,14 @@ if PYNPUT_AVAILABLE:
 
 
 class KeyboardTeleop(Teleoperator):
-    """Teleoperator that reads raw keyboard key states via `pynput` for manual control.
-
-    [`~teleoperators.Teleoperator.get_action`] reports every key currently held down. Requires an
-    interactive desktop session capable of capturing global key events — an X11 session (Linux), a
-    Windows desktop, or macOS with Accessibility / Input Monitoring permission granted. On Wayland or a
-    headless machine, [`~teleoperators.Teleoperator.connect`] logs a warning and the teleoperator produces
-    no actions.
+    """
+    Teleop class to use keyboard inputs for control.
     """
 
     config_class = KeyboardTeleopConfig
     name = "keyboard"
 
     def __init__(self, config: KeyboardTeleopConfig):
-        """Instantiate the teleoperator.
-
-        Args:
-            config (`KeyboardTeleopConfig`):
-                Configuration for this keyboard teleoperator.
-
-        Raises:
-            ImportError: If `pynput` is not installed.
-        """
         require_package("pynput", extra="pynput-dep")
         super().__init__(config)
         self.config = config
@@ -77,11 +63,6 @@ class KeyboardTeleop(Teleoperator):
 
     @property
     def action_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict`: Motor count and names taken from `self.arm`.
-        """
         return {
             "dtype": "float32",
             "shape": (len(self.arm),),
@@ -90,26 +71,18 @@ class KeyboardTeleop(Teleoperator):
 
     @property
     def feedback_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.feedback_features`]. `KeyboardTeleop` accepts no feedback."""
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`]."""
         return PYNPUT_AVAILABLE and isinstance(self.listener, keyboard.Listener) and self.listener.is_alive()
 
     @property
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`]. Keyboard input does not require calibration."""
         pass
 
     @check_if_already_connected
     def connect(self) -> None:
-        """See [`~teleoperators.Teleoperator.connect`].
-
-        Starts a `pynput` keyboard listener if the current session can capture key events; otherwise logs
-        a warning and leaves the teleoperator producing no actions.
-        """
         if PYNPUT_AVAILABLE and pynput_can_capture():
             logging.info("pynput is available - enabling local keyboard listener.")
             self.listener = keyboard.Listener(
@@ -128,7 +101,6 @@ class KeyboardTeleop(Teleoperator):
             self.listener = None
 
     def calibrate(self) -> None:
-        """See [`~teleoperators.Teleoperator.calibrate`]. No-op: keyboard input does not require calibration."""
         pass
 
     def _on_press(self, key):
@@ -151,20 +123,10 @@ class KeyboardTeleop(Teleoperator):
             self.current_pressed[key_char] = is_pressed
 
     def configure(self):
-        """See [`~teleoperators.Teleoperator.configure`]. No-op: keyboard input needs no configuration."""
         pass
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Read the keys currently held down.
-
-        Returns:
-            `dict[str, Any]`: One entry per key character currently pressed, each mapped to `None`. An
-            empty dict means no key is currently held.
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
-        """
         before_read_t = time.perf_counter()
 
         self._drain_pressed_keys()
@@ -176,45 +138,30 @@ class KeyboardTeleop(Teleoperator):
         return dict.fromkeys(action, None)
 
     def send_feedback(self, feedback: dict[str, Any]) -> None:
-        """See [`~teleoperators.Teleoperator.send_feedback`]. No-op: `KeyboardTeleop` accepts no feedback."""
         pass
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`]. Stops the keyboard listener, if one is running."""
         if self.listener is not None:
             self.listener.stop()
 
 
 class KeyboardEndEffectorTeleop(KeyboardTeleop):
-    """Keyboard teleoperator for end-effector (Cartesian delta) control.
-
-    Arrow keys and shift map to `delta_x`/`delta_y`/`delta_z`; `ctrl_l`/`ctrl_r` map to the gripper.
-    Designed for use with the `So100FollowerEndEffector` robot.
+    """
+    Teleop class to use keyboard inputs for end effector control.
+    Designed to be used with the `So100FollowerEndEffector` robot.
     """
 
     config_class = KeyboardEndEffectorTeleopConfig
     name = "keyboard_ee"
 
     def __init__(self, config: KeyboardEndEffectorTeleopConfig):
-        """Instantiate the teleoperator.
-
-        Args:
-            config (`KeyboardEndEffectorTeleopConfig`):
-                Configuration for this keyboard end-effector teleoperator.
-        """
         super().__init__(config)
         self.config = config
         self.misc_keys_queue = Queue()
 
     @property
     def action_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict`: A 3-element (or 4-element if `config.use_gripper` is `True`) `float32` vector named
-            `delta_x`, `delta_y`, `delta_z`, and optionally `gripper`.
-        """
         if self.config.use_gripper:
             return {
                 "dtype": "float32",
@@ -230,19 +177,6 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Translate held-down keys into an end-effector Cartesian delta.
-
-        Arrow keys drive `delta_x`/`delta_y`; `shift`/`shift_r` drive `delta_z`. `ctrl_r` opens the
-        gripper and `ctrl_l` closes it (only present when `config.use_gripper` is `True`); any other
-        pressed key is queued for [`~teleoperators.keyboard.KeyboardEndEffectorTeleop.get_teleop_events`]
-        instead of affecting the action.
-
-        Returns:
-            `dict[str, Any]`: `delta_x`, `delta_y`, `delta_z`, and, if enabled, `gripper`.
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
-        """
         self._drain_pressed_keys()
         delta_x = 0.0
         delta_y = 0.0
@@ -286,15 +220,22 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
         return action_dict
 
     def get_teleop_events(self) -> dict[str, Any]:
-        """Read auxiliary keyboard events used to drive episode control during recording.
+        """
+        Get extra control events from the keyboard such as intervention status,
+        episode termination, success indicators, etc.
 
-        Any of the movement/gripper keys held down counts as an active intervention. `s`, `r`, and `q`
-        are read once as one-shot signals for success, rerecord, and quit respectively; reading this
-        method clears the currently tracked key state.
+        Keyboard mappings:
+        - Any movement keys pressed = intervention active
+        - 's' key = success (terminate episode successfully)
+        - 'r' key = rerecord episode (terminate and rerecord)
+        - 'q' key = quit episode (terminate without success)
 
         Returns:
-            `dict[TeleopEvents, bool]`: Values for the [`~teleoperators.TeleopEvents`] keys
-            `IS_INTERVENTION`, `TERMINATE_EPISODE`, `SUCCESS`, and `RERECORD_EPISODE`.
+            Dictionary containing:
+                - is_intervention: bool - Whether human is currently intervening
+                - terminate_episode: bool - Whether to terminate the current episode
+                - success: bool - Whether the episode was successful
+                - rerecord_episode: bool - Whether to rerecord the episode
         """
         if not self.is_connected:
             return {
@@ -345,24 +286,49 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
 
 
 class KeyboardRoverTeleop(KeyboardTeleop):
-    """Keyboard teleoperator for mobile robots such as EarthRover Mini Plus.
+    """
+    Keyboard teleoperator for mobile robots like EarthRover Mini Plus.
 
-    Provides WASD-style driving controls: `w`/`s` drive forward/backward, `a`/`d` turn (with a forward
-    motion assist), `q`/`e` rotate in place, `x` is an emergency stop, and `+`/`-` adjust speed. `ESC`
-    disconnects the teleoperator.
+    Provides intuitive WASD-style controls for driving a mobile robot:
+    - Linear movement (forward/backward)
+    - Angular movement (turning/rotation)
+    - Speed adjustment
+    - Emergency stop
+
+    Keyboard Controls:
+        Movement:
+            - W: Move forward
+            - S: Move backward
+            - A: Turn left (with forward motion)
+            - D: Turn right (with forward motion)
+            - Q: Rotate left in place
+            - E: Rotate right in place
+            - X: Emergency stop
+
+        Speed Control:
+            - +/=: Increase speed
+            - -: Decrease speed
+
+        System:
+            - ESC: Disconnect teleoperator
 
     **Attributes**:
-        - **current_linear_speed** (`float`) -- Current linear velocity magnitude, adjustable at runtime
-          with `+`/`-`.
-        - **current_angular_speed** (`float`) -- Current angular velocity magnitude, adjustable at
-          runtime with `+`/`-`.
+        - **config** -- Teleoperator configuration
+        - **current_linear_speed** -- Current linear velocity magnitude
+        - **current_angular_speed** -- Current angular velocity magnitude
 
     Example:
         ```python
-        >>> from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
-        >>> teleop = KeyboardRoverTeleop(KeyboardRoverTeleopConfig(linear_speed=1.0))  # doctest: +SKIP
-        >>> teleop.connect()  # doctest: +SKIP
-        >>> teleop.get_action()  # doctest: +SKIP
+        from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
+
+        teleop = KeyboardRoverTeleop(
+            KeyboardRoverTeleopConfig(linear_speed=1.0, angular_speed=1.0, speed_increment=0.1)
+        )
+        teleop.connect()
+
+        while teleop.is_connected:
+            action = teleop.get_action()
+            robot.send_action(action)
         ```
     """
 
@@ -370,12 +336,6 @@ class KeyboardRoverTeleop(KeyboardTeleop):
     name = "keyboard_rover"
 
     def __init__(self, config: KeyboardRoverTeleopConfig):
-        """Instantiate the teleoperator.
-
-        Args:
-            config (`KeyboardRoverTeleopConfig`):
-                Configuration for this keyboard rover teleoperator.
-        """
         super().__init__(config)
         # Add rover-specific speed settings
         self.current_linear_speed = config.linear_speed
@@ -383,11 +343,7 @@ class KeyboardRoverTeleop(KeyboardTeleop):
 
     @property
     def action_features(self) -> dict:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict`: `linear_velocity` and `angular_velocity`, each mapped to `float`.
-        """
+        """Return action format for rover (linear and angular velocities)."""
         return {
             "linear_velocity": float,
             "angular_velocity": float,
@@ -395,11 +351,11 @@ class KeyboardRoverTeleop(KeyboardTeleop):
 
     @property
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`]. Rover teleop does not require calibration."""
+        """Rover teleop doesn't require calibration."""
         return True
 
     def _drain_pressed_keys(self):
-        """Update current_pressed state from event queue without clearing held keys."""
+        """Update current_pressed state from event queue without clearing held keys"""
         while not self.event_queue.empty():
             key_char, is_pressed = self.event_queue.get_nowait()
             if is_pressed:
@@ -410,18 +366,11 @@ class KeyboardRoverTeleop(KeyboardTeleop):
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Translate held-down WASD-style keys into linear and angular rover velocities.
-
-        `w`/`s` set the linear velocity; `a`/`d` turn while adding a forward-motion assist
-        (`config.turn_assist_ratio`) when not already moving; `q`/`e` rotate in place; `x` stops both
-        axes. `+`/`-` adjust `current_linear_speed` and `current_angular_speed` in place, clamped to
-        `config.min_linear_speed` / `config.min_angular_speed`.
+        """
+        Get the current action based on pressed keys.
 
         Returns:
-            `dict[str, float]`: `linear_velocity` and `angular_velocity`.
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
+            RobotAction with 'linear_velocity' and 'angular_velocity' keys.
         """
         before_read_t = time.perf_counter()
 

src/lerobot/teleoperators/koch_leader/config_koch_leader.py

@@ -22,28 +22,6 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("koch_leader")
 @dataclass
 class KochLeaderConfig(TeleoperatorConfig):
-    """Configuration for the Koch leader arm.
-
-    Args:
-        port (`str`):
-            Serial port the arm is connected to, e.g. `/dev/ttyACM0` on Linux or `COM3` on Windows. Run
-            `lerobot-find-port` to identify it.
-        gripper_open_pos (`float`, *optional*, defaults to 50.0):
-            Goal position written to the gripper motor, held under current-based position control so the
-            gripper springs back to this position when released, letting it be used as a physical trigger.
-        id (`str`, *optional*):
-            Identifier for this particular arm; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.koch_leader import KochLeader, KochLeaderConfig
-        >>> config = KochLeaderConfig(port="/dev/ttyACM0")  # doctest: +SKIP
-        >>> teleop = KochLeader(config)  # doctest: +SKIP
-        ```
-    """
-
     # Port to connect to the arm
     port: str
 

src/lerobot/teleoperators/koch_leader/koch_leader.py

@@ -32,34 +32,16 @@ logger = logging.getLogger(__name__)
 
 
 class KochLeader(Teleoperator):
-    """The Koch leader arm, in either of its two revisions, held by an operator to teleoperate a follower arm.
-
+    """
     - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
-      expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com).
-    - [Koch v1.1](https://github.com/jess-moss/koch-v1-1), developed by Jess Moss.
-
-    Actions are keyed `"<motor>.pos"`. See [`~teleoperators.Teleoperator`] for the contract every method
-    here implements.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.koch_leader import KochLeader, KochLeaderConfig
-        >>> teleop = KochLeader(KochLeaderConfig(port="/dev/ttyACM0"))  # doctest: +SKIP
-        >>> with teleop:  # doctest: +SKIP
-        ...     action = teleop.get_action()
-        ```
+        expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
+    - [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
     """
 
     config_class = KochLeaderConfig
     name = "koch_leader"
 
     def __init__(self, config: KochLeaderConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`KochLeaderConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected.
-        """
         super().__init__(config)
         self.config = config
         self.bus = DynamixelMotorsBus(
@@ -77,42 +59,18 @@ class KochLeader(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """The arm's joint positions.
-
-        Returns:
-            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
-        """
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """Same as [`~teleoperators.Teleoperator.feedback_features`].
-
-        This arm does not support feedback; [`~teleoperators.koch_leader.KochLeader.send_feedback`] always
-        raises `NotImplementedError`.
-
-        Returns:
-            `dict[str, type]`: Always empty.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`]."""
         return self.bus.is_connected
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Connect the motor bus, calibrating and configuring the arm.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run calibration when the motors disagree with the calibration file, or no file
-                exists yet. Calibration is interactive and prompts on stdin.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the teleoperator is already connected.
-        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -125,16 +83,9 @@ class KochLeader(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_calibrated`]."""
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """Calibrate the arm, writing the result to the motors and the calibration file.
-
-        This is interactive: it prompts on stdin to reuse an existing calibration file, and otherwise asks
-        you to move the arm to its middle position and then through each joint's full range. The
-        `elbow_flex` motor is inverted, and `shoulder_pan` and `wrist_roll` are treated as full-turn joints.
-        """
         self.bus.disable_torque()
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
@@ -181,12 +132,6 @@ class KochLeader(Teleoperator):
         logger.info(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """Write the operating modes to every motor, including the gripper's spring-back trigger behavior.
-
-        All motors except the gripper are set to extended position mode. The gripper is set to
-        current-based position control and driven to `gripper_open_pos`, with torque enabled, so it springs
-        back to that position when released and can be used as a physical trigger.
-        """
         self.bus.disable_torque()
         self.bus.configure_motors()
         for motor in self.bus.motors:
@@ -209,11 +154,6 @@ class KochLeader(Teleoperator):
             self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID, one at a time.
-
-        Run this once when building an arm. It is interactive: it prompts you to connect the controller
-        board to a single motor at a time, working from the gripper back to the base.
-        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -221,14 +161,6 @@ class KochLeader(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Same as [`~teleoperators.Teleoperator.get_action`].
-
-        Returns:
-            `dict[str, float]`: `"<motor>.pos"` keys mapped to the arm's current joint positions.
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         start = time.perf_counter()
         action = self.bus.sync_read("Present_Position")
         action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -237,20 +169,10 @@ class KochLeader(Teleoperator):
         return action
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not implemented for this arm.
-
-        Raises:
-            NotImplementedError: Always. This arm does not support force feedback.
-        """
         # TODO(rcadene, aliberts): Implement force feedback
         raise NotImplementedError
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Same as [`~teleoperators.Teleoperator.disconnect`].
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/omx_leader/config_omx_leader.py

@@ -22,28 +22,6 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("omx_leader")
 @dataclass
 class OmxLeaderConfig(TeleoperatorConfig):
-    """Configuration for the OMX leader arm.
-
-    Args:
-        port (`str`):
-            Serial port the arm is connected to, e.g. `/dev/ttyACM0` on Linux or `COM3` on Windows. Run
-            `lerobot-find-port` to identify it.
-        gripper_open_pos (`float`, *optional*, defaults to 60.0):
-            Goal position written to the gripper motor, held under current-based position control so the
-            gripper springs back to this position when released, letting it be used as a physical trigger.
-        id (`str`, *optional*):
-            Identifier for this particular arm; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.omx_leader import OmxLeader, OmxLeaderConfig
-        >>> config = OmxLeaderConfig(port="/dev/ttyACM0")  # doctest: +SKIP
-        >>> teleop = OmxLeader(config)  # doctest: +SKIP
-        ```
-    """
-
     # Port to connect to the arm
     port: str
 

src/lerobot/teleoperators/omx_leader/omx_leader.py

@@ -32,33 +32,15 @@ logger = logging.getLogger(__name__)
 
 
 class OmxLeader(Teleoperator):
-    """The OMX leader arm, held by an operator to teleoperate a follower arm.
-
-    [OMX](https://github.com/ROBOTIS-GIT/open_manipulator), developed by Woojin Wie and Junha Cha from
-    [ROBOTIS](https://ai.robotis.com/).
-
-    Actions are keyed `"<motor>.pos"`. See [`~teleoperators.Teleoperator`] for the contract every method
-    here implements.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.omx_leader import OmxLeader, OmxLeaderConfig
-        >>> teleop = OmxLeader(OmxLeaderConfig(port="/dev/ttyACM0"))  # doctest: +SKIP
-        >>> with teleop:  # doctest: +SKIP
-        ...     action = teleop.get_action()
-        ```
+    """
+    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
+        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
     """
 
     config_class = OmxLeaderConfig
     name = "omx_leader"
 
     def __init__(self, config: OmxLeaderConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`OmxLeaderConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected.
-        """
         super().__init__(config)
         self.config = config
         self.bus = DynamixelMotorsBus(
@@ -76,42 +58,18 @@ class OmxLeader(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """The arm's joint positions.
-
-        Returns:
-            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
-        """
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """Same as [`~teleoperators.Teleoperator.feedback_features`].
-
-        This arm does not support feedback; [`~teleoperators.omx_leader.OmxLeader.send_feedback`] always
-        raises `NotImplementedError`.
-
-        Returns:
-            `dict[str, type]`: Always empty.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`]."""
         return self.bus.is_connected
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Connect the motor bus, calibrating and configuring the arm.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to write the factory default calibration when the motors disagree with the
-                calibration file, or no file exists yet.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the teleoperator is already connected.
-        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -124,15 +82,9 @@ class OmxLeader(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_calibrated`]."""
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """Write the factory default calibration to the motors and the calibration file.
-
-        Unlike other SO/Koch-family arms, this is not interactive: the OMX arm's homing offsets and ranges
-        of motion are fixed factory defaults, so no manual positioning is required.
-        """
         self.bus.disable_torque()
         logger.info(f"\nUsing factory default calibration values for {self}")
         logger.info(f"\nWriting default configuration of {self} to the motors")
@@ -161,13 +113,6 @@ class OmxLeader(Teleoperator):
         logger.info(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """Write the operating and drive modes to every motor, including the gripper's spring-back trigger.
-
-        All motors except the gripper are set to extended position mode with a non-inverted drive mode. The
-        gripper's drive mode is inverted, and it is set to current-based position control with a reduced
-        current limit and driven to `gripper_open_pos`, with torque enabled, so it springs back to that
-        position when released and can be used as a physical trigger.
-        """
         self.bus.disable_torque()
         self.bus.configure_motors()
         for motor in self.bus.motors:
@@ -198,11 +143,6 @@ class OmxLeader(Teleoperator):
             self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID, one at a time.
-
-        Run this once when building an arm. It is interactive: it prompts you to connect the controller
-        board to a single motor at a time, working from the gripper back to the base.
-        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -210,14 +150,6 @@ class OmxLeader(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Same as [`~teleoperators.Teleoperator.get_action`].
-
-        Returns:
-            `dict[str, float]`: `"<motor>.pos"` keys mapped to the arm's current joint positions.
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         start = time.perf_counter()
         action = self.bus.sync_read("Present_Position")
         action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -226,20 +158,10 @@ class OmxLeader(Teleoperator):
         return action
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not implemented for this arm.
-
-        Raises:
-            NotImplementedError: Always. This arm does not support force feedback.
-        """
         # TODO(rcadene, aliberts): Implement force feedback
         raise NotImplementedError
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Same as [`~teleoperators.Teleoperator.disconnect`].
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/openarm_leader/config_openarm_leader.py

@@ -76,41 +76,4 @@ class OpenArmLeaderConfigBase:
 @TeleoperatorConfig.register_subclass("openarm_leader")
 @dataclass
 class OpenArmLeaderConfig(TeleoperatorConfig, OpenArmLeaderConfigBase):
-    """Configuration for the OpenArm leader/teleoperator arm (CAN bus, Damiao motors).
-
-    Args:
-        port (`str`):
-            CAN interface the arm is connected to, e.g. `"can0"` on Linux.
-        can_interface (`str`, *optional*, defaults to `"socketcan"`):
-            CAN backend type: `"socketcan"` (Linux), `"slcan"` (serial), or `"auto"` (auto-detect).
-        use_can_fd (`bool`, *optional*, defaults to `True`):
-            Whether to use CAN FD, which OpenArm uses by default.
-        can_bitrate (`int`, *optional*, defaults to 1000000):
-            Nominal CAN bus bitrate, in bits per second.
-        can_data_bitrate (`int`, *optional*, defaults to 5000000):
-            CAN FD data-phase bitrate, in bits per second. Only used when `use_can_fd` is `True`.
-        motor_config (`dict[str, tuple[int, int, str]]`, *optional*):
-            Maps motor name to `(send_can_id, recv_can_id, motor_type)`. Defaults to the standard 7-DOF
-            plus gripper OpenArm layout, using DM8009 (shoulder), DM4340 (shoulder rotation, elbow), and
-            DM4310 (wrist, gripper) Damiao motors.
-        manual_control (`bool`, *optional*, defaults to `True`):
-            Whether motors have torque disabled for manual movement. Required for a leader arm that is
-            moved by hand.
-        use_velocity_and_torque (`bool`, *optional*, defaults to `False`):
-            Whether to expose `.vel` and `.torque` per motor in [`~teleoperators.Teleoperator.action_features`],
-            in addition to `.pos`.
-        position_kp (`list[float]`, *optional*):
-            Per-joint position gain, used for MIT torque control when `manual_control` is `False`.
-            Defaults to the standard 8-value OpenArm gain set (one value per joint, plus gripper).
-        position_kd (`list[float]`, *optional*):
-            Per-joint velocity gain, used for MIT torque control when `manual_control` is `False`.
-            Defaults to the standard 8-value OpenArm damping set (one value per joint, plus gripper).
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     pass

src/lerobot/teleoperators/openarm_leader/openarm_leader.py

@@ -30,33 +30,17 @@ logger = logging.getLogger(__name__)
 
 
 class OpenArmLeader(Teleoperator):
-    """OpenArm Leader/Teleoperator Arm with Damiao motors.
+    """
+    OpenArm Leader/Teleoperator Arm with Damiao motors.
 
-    This teleoperator uses CAN bus communication to read positions from Damiao motors that are manually
-    moved (torque disabled). For the bimanual setup, see [`~teleoperators.bi_openarm_leader.BiOpenArmLeader`], which composes
-    two of these.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.openarm_leader import OpenArmLeader, OpenArmLeaderConfig
-        >>> config = OpenArmLeaderConfig(port="can0")
-        >>> leader = OpenArmLeader(config)  # doctest: +SKIP
-        >>> leader.connect()  # doctest: +SKIP
-        >>> action = leader.get_action()  # doctest: +SKIP
-        ```
+    This teleoperator uses CAN bus communication to read positions from
+    Damiao motors that are manually moved (torque disabled).
     """
 
     config_class = OpenArmLeaderConfig
     name = "openarm_leader"
 
     def __init__(self, config: OpenArmLeaderConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`OpenArmLeaderConfig`):
-                The teleoperator's configuration. Its `port` and `motor_config` determine what is
-                connected and how the CAN bus is laid out.
-        """
         super().__init__(config)
         self.config = config
 
@@ -82,11 +66,7 @@ class OpenArmLeader(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Always includes `.pos` per motor; also includes `.vel` and `.torque` per motor when
-        `config.use_velocity_and_torque` is `True`.
-        """
+        """Features produced by this teleoperator."""
         features: dict[str, type] = {}
         for motor in self.bus.motors:
             features[f"{motor}.pos"] = float
@@ -97,23 +77,23 @@ class OpenArmLeader(Teleoperator):
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.feedback_features`].
-
-        Always empty: feedback is not implemented for the OpenArm leader.
-        """
+        """Feedback features (not implemented for OpenArms)."""
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`]."""
+        """Check if teleoperator is connected."""
         return self.bus.is_connected
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """See [`~teleoperators.Teleoperator.connect`].
-
-        For manual control, torque is disabled after connecting so the arm can be moved by hand.
         """
+        Connect to the teleoperator.
+
+        For manual control, we disable torque after connecting so the
+        arm can be moved by hand.
+        """
+
         # Connect to CAN bus
         logger.info(f"Connecting arm on {self.config.port}...")
         self.bus.connect()
@@ -134,11 +114,12 @@ class OpenArmLeader(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`]."""
+        """Check if teleoperator is calibrated."""
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """See [`~teleoperators.Teleoperator.calibrate`].
+        """
+        Run calibration procedure for OpenArms leader.
 
         The calibration procedure:
         1. Disable torque (if not already disabled)
@@ -189,29 +170,26 @@ class OpenArmLeader(Teleoperator):
         print(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """See [`~teleoperators.Teleoperator.configure`].
-
-        For manual control, torque is disabled so the arm can be moved by hand; otherwise the motors are
-        configured for MIT torque control.
         """
+        Configure motors for manual teleoperation.
+
+        For manual control, we disable torque so the arm can be moved by hand.
+        """
+
         return self.bus.disable_torque() if self.config.manual_control else self.bus.configure_motors()
 
     def setup_motors(self) -> None:
-        """Not supported: raises `NotImplementedError`.
-
-        Motor ID configuration for CAN motors is typically done via manufacturer tools rather than through
-        LeRobot.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError(
             "Motor ID configuration is typically done via manufacturer tools for CAN motors."
         )
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """See [`~teleoperators.Teleoperator.get_action`].
+        """
+        Get current action from the leader arm.
+
+        This is the main method for teleoperators - it reads the current state
+        of the leader arm and returns it as an action that can be sent to a follower.
 
         Reads all motor states (pos/vel/torque) in one CAN refresh cycle.
         """
@@ -234,20 +212,12 @@ class OpenArmLeader(Teleoperator):
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: raises `NotImplementedError`.
-
-        Args:
-            feedback (`dict[str, float]`):
-                Unused.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError("Feedback is not yet implemented for OpenArm leader.")
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`]."""
+        """Disconnect from teleoperator."""
+
         # Disconnect CAN bus
         # For manual control, ensure torque is disabled before disconnecting
         self.bus.disconnect(disable_torque=self.config.manual_control)

src/lerobot/teleoperators/openarm_mini/config_openarm_mini.py

@@ -36,22 +36,4 @@ class OpenArmMiniConfigBase:
 @TeleoperatorConfig.register_subclass("openarm_mini")
 @dataclass
 class OpenArmMiniConfig(TeleoperatorConfig, OpenArmMiniConfigBase):
-    """Configuration for the OpenArm Mini teleoperator (Feetech STS3215, 7DOF + gripper).
-
-    Args:
-        port (`str`):
-            Serial port the Feetech bus is connected to, e.g. `/dev/ttyUSB0`.
-        side (`str`, *optional*):
-            Which side of a bimanual pair this arm is: `"left"` or `"right"`. Controls per-joint
-            direction flips applied during readout. `None` disables flipping.
-        use_degrees (`bool`, *optional*, defaults to `True`):
-            Keep `True` for backward compatibility with existing policies and datasets.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     pass

src/lerobot/teleoperators/openarm_mini/openarm_mini.py

@@ -46,32 +46,13 @@ GRIPPER_TELEOP_TO_DEGREES = -0.65
 class OpenArmMini(Teleoperator):
     """OpenArm Mini single-arm teleoperator (Feetech STS3215, 7DOF + gripper).
 
-    For the bimanual setup, see [`~teleoperators.bi_openarm_mini.BiOpenArmMini`], which composes two of these.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.openarm_mini import OpenArmMini, OpenArmMiniConfig
-        >>> config = OpenArmMiniConfig(port="/dev/ttyUSB0")
-        >>> teleop = OpenArmMini(config)  # doctest: +SKIP
-        >>> teleop.connect()  # doctest: +SKIP
-        >>> action = teleop.get_action()  # doctest: +SKIP
-        ```
+    For the bimanual setup, see :class:`BiOpenArmMini` which composes two of these.
     """
 
     config_class = OpenArmMiniConfig
     name = "openarm_mini"
 
     def __init__(self, config: OpenArmMiniConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`OpenArmMiniConfig`):
-                The teleoperator's configuration. Its `port` and `side` determine what is connected and
-                which per-joint direction flips are applied.
-
-        Raises:
-            ValueError: If `config.side` is not `"left"`, `"right"`, or `None`.
-        """
         super().__init__(config)
         self.config = config
 
@@ -99,25 +80,18 @@ class OpenArmMini(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.action_features`]. One `.pos` entry per motor."""
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.feedback_features`].
-
-        Same shape as [`~teleoperators.Teleoperator.action_features`]: one `.pos` entry per motor.
-        """
         return self.action_features
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`]."""
         return self.bus.is_connected
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """See [`~teleoperators.Teleoperator.connect`]."""
         logger.info(f"Connecting arm on {self.config.port}...")
         self.bus.connect()
 
@@ -129,11 +103,11 @@ class OpenArmMini(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`]."""
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """See [`~teleoperators.Teleoperator.calibrate`].
+        """
+        Run calibration procedure for a single OpenArm Mini arm.
 
         1. Disable torque
         2. Ask user to position arm in hanging position with gripper closed
@@ -227,23 +201,12 @@ class OpenArmMini(Teleoperator):
         print(f"\nCalibration complete and saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """See [`~teleoperators.Teleoperator.configure`].
-
-        Disables torque, applies bus-level motor configuration, then sets every motor to position
-        operating mode.
-        """
         self.bus.disable_torque()
         self.bus.configure_motors()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID, one at a time.
-
-        Run this once when building the teleoperator. Interactive: prompts you to connect the controller
-        board to a single motor at a time, in reverse order so downstream motors on the daisy chain don't
-        interfere.
-        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -251,11 +214,7 @@ class OpenArmMini(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """See [`~teleoperators.Teleoperator.get_action`].
-
-        Applies the `joint_6`/`joint_7` remap, the per-side direction flip configured by `config.side`,
-        and the gripper teleop-to-degrees conversion before returning.
-        """
+        """Get current action (read positions from all motors)."""
         start = time.perf_counter()
 
         positions = self.bus.sync_read("Present_Position")
@@ -276,24 +235,13 @@ class OpenArmMini(Teleoperator):
         return action
 
     def enable_torque(self) -> None:
-        """Enable torque on all motors, e.g. to hold position instead of being freely moved by hand."""
         self.bus.enable_torque()
 
     def disable_torque(self) -> None:
-        """Disable torque on all motors so the arm can be moved by hand."""
         self.bus.disable_torque()
 
     def write_goal_positions(self, positions: dict[str, float]) -> None:
-        """Write goal positions to the motors.
-
-        Applies the inverse of [`~teleoperators.openarm_mini.OpenArmMini.get_action`]'s remap, direction flip, and
-        gripper unit conversion before writing.
-
-        Args:
-            positions (`dict[str, float]`):
-                Target positions keyed by `{motor}.pos`, in the same units [`~teleoperators.openarm_mini.OpenArmMini.get_action`]
-                returns.
-        """
+        """Write goal positions to motors (inverse of get_action flip/gripper/remap logic)."""
         goals: dict[str, float] = {}
         for key, val in positions.items():
             if not key.endswith(".pos"):
@@ -313,15 +261,9 @@ class OpenArmMini(Teleoperator):
 
     @check_if_not_connected
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """See [`~teleoperators.Teleoperator.send_feedback`].
-
-        Delegates to [`~teleoperators.openarm_mini.OpenArmMini.write_goal_positions`], moving the arm's motors to the
-        given positions.
-        """
         self.write_goal_positions(feedback)
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`]."""
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/phone/config_phone.py

@@ -23,14 +23,6 @@ from ..config import TeleoperatorConfig
 
 
 class PhoneOS(Enum):
-    """Which phone platform a `Phone` teleoperator talks to, selecting its backend implementation.
-
-    **Attributes**:
-        - **ANDROID** (`str`) -- WebXR-based backend (`AndroidPhone`), driven through the `teleop` Python
-          package.
-        - **IOS** (`str`) -- ARKit-based backend (`IOSPhone`), driven through the HEBI Mobile I/O app.
-    """
-
     ANDROID = "android"
     IOS = "ios"
 
@@ -38,35 +30,6 @@ class PhoneOS(Enum):
 @TeleoperatorConfig.register_subclass("phone")
 @dataclass
 class PhoneConfig(TeleoperatorConfig):
-    """Configuration for the [`~teleoperators.phone.Phone`] teleoperator.
-
-    Args:
-        phone_os (`PhoneOS`, *optional*, defaults to `PhoneOS.IOS`):
-            Which phone platform and backend to use. `PhoneOS.IOS` talks to the HEBI Mobile I/O app over
-            ARKit; `PhoneOS.ANDROID` talks to a browser WebXR session over the `teleop` package.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-
-    Note:
-        `camera_offset` is a fixed class attribute, not a constructor argument, so it currently cannot be
-        overridden per instance or from the command line. It defaults to the offset between an iPhone 14
-        Pro's camera and the phone's physical center (2cm lateral, 4cm vertical) and is applied to
-        translate the ARKit/WebXR camera pose into the phone's own frame.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.phone import PhoneConfig
-        >>> from lerobot.teleoperators.phone.config_phone import PhoneOS
-        >>> config = PhoneConfig(phone_os=PhoneOS.ANDROID)
-        >>> config.phone_os
-        <PhoneOS.ANDROID: 'android'>
-        ```
-    """
-
     phone_os: PhoneOS = PhoneOS.IOS
     camera_offset = np.array(
         [0.0, -0.02, 0.04]

src/lerobot/teleoperators/phone/phone_processor.py

@@ -26,7 +26,8 @@ from .config_phone import PhoneOS
 @ProcessorStepRegistry.register("map_phone_action_to_robot_action")
 @dataclass
 class MapPhoneActionToRobotAction(RobotActionProcessorStep):
-    """Maps calibrated phone pose actions to standardized robot action inputs.
+    """
+    Maps calibrated phone pose actions to standardized robot action inputs.
 
     This processor step acts as a bridge between the phone teleoperator's output
     and the robot's expected action format. It remaps the phone's 6-DoF pose
@@ -44,22 +45,17 @@ class MapPhoneActionToRobotAction(RobotActionProcessorStep):
     _enabled_prev: bool = field(default=False, init=False, repr=False)
 
     def action(self, action: RobotAction) -> RobotAction:
-        """Processes the phone action dictionary to create a robot action dictionary.
+        """
+        Processes the phone action dictionary to create a robot action dictionary.
 
         Args:
-            action (`RobotAction`):
-                The input action dictionary from the phone teleoperator, keyed `"phone.pos"`,
-                `"phone.rot"`, `"phone.raw_inputs"`, and `"phone.enabled"`.
+            act: The input action dictionary from the phone teleoperator.
 
         Returns:
-            `RobotAction`: A new action dictionary formatted for the robot controller, keyed
-            `"enabled"`, `"target_x"`/`"target_y"`/`"target_z"`, `"target_wx"`/`"target_wy"`/`"target_wz"`,
-            and `"gripper_vel"`.
+            A new action dictionary formatted for the robot controller.
 
         Raises:
-            KeyError: If `"phone.pos"`, `"phone.rot"`, `"phone.raw_inputs"`, or `"phone.enabled"` is
-                missing from `action`.
-            ValueError: If `"phone.pos"` or `"phone.rot"` is `None`.
+            ValueError: If 'pos' or 'rot' keys are missing from the input action.
         """
         # Pop them from the action
         enabled = bool(action.pop("phone.enabled"))
@@ -96,20 +92,6 @@ class MapPhoneActionToRobotAction(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        """Replace the `phone.*` action feature entries with the robot action features `action` produces.
-
-        Drops the `"phone.enabled"`, `"phone.pos"`, `"phone.rot"`, and `"phone.raw_inputs"` feature
-        entries, and adds one scalar (`shape=(1,)`) entry for each of `"enabled"`, `"target_x"`,
-        `"target_y"`, `"target_z"`, `"target_wx"`, `"target_wy"`, `"target_wz"`, and `"gripper_vel"`.
-
-        Args:
-            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
-                The pipeline's feature dictionary, keyed by pipeline feature type and then feature name.
-
-        Returns:
-            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The same dictionary, with the action
-            feature entries updated in place.
-        """
         for feat in ["enabled", "pos", "rot", "raw_inputs"]:
             features[PipelineFeatureType.ACTION].pop(f"phone.{feat}", None)
 

src/lerobot/teleoperators/phone/teleop_phone.py

@@ -46,14 +46,6 @@ logger = logging.getLogger(__name__)
 
 
 class BasePhone:
-    """Shared calibration state and `Teleoperator` interface parts common to both phone backends.
-
-    `IOSPhone` and `AndroidPhone` mix this in alongside `Teleoperator` so that the action/feedback feature
-    schemas, calibration status, and the no-op configuration step only need to be written once. Each
-    backend implements the parts that genuinely differ: connecting, reading the raw pose, and capturing a
-    calibration reference.
-    """
-
     _enabled: bool = False
     _calib_pos: np.ndarray | None = None
     _calib_rot_inv: Rotation | None = None
@@ -63,24 +55,10 @@ class BasePhone:
 
     @property
     def is_calibrated(self) -> bool:
-        """Whether a calibration reference pose has been captured.
-
-        Returns:
-            `bool`: `True` once both a reference position and inverse rotation have been recorded by
-            `calibrate`.
-        """
         return (self._calib_pos is not None) and (self._calib_rot_inv is not None)
 
     @property
     def action_features(self) -> dict[str, type]:
-        """Describe the action dictionary returned by `get_action`.
-
-        Returns:
-            `dict[str, type]`: Maps `"phone.pos"` (3D position, shape `(3,)`), `"phone.rot"` (orientation,
-            a `scipy.spatial.transform.Rotation`), `"phone.raw_inputs"` (device-specific analog/button or
-            WebXR values), and `"phone.enabled"` (whether the teleoperation trigger is currently held) to
-            their value types.
-        """
         return {
             "phone.pos": np.ndarray,  # shape (3,)
             "phone.rot": Rotation,  # scipy.spatial.transform.Rotation
@@ -90,60 +68,22 @@ class BasePhone:
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """Feedback schema accepted by `send_feedback`.
-
-        No haptic or other feedback channel is implemented for phone teleoperators yet.
-
-        Returns:
-            `dict[str, type]`: Currently always `None`, since `feedback_features` has no implementation
-            yet; this deviates from the declared return type and should not be relied on.
-        """
         # No haptic or other feedback implemented yet
         pass
 
     def configure(self) -> None:
-        """No-op. Phone teleoperators require no runtime configuration.
-
-        See [`~teleoperators.Teleoperator.configure`] for the base contract.
-        """
         # No additional configuration required for phone teleop
         pass
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not implemented. Phone teleoperators do not support feedback yet.
-
-        Args:
-            feedback (`dict[str, float]`):
-                Feedback values; see [`~teleoperators.Teleoperator.send_feedback`] for the base contract.
-
-        Raises:
-            NotImplementedError: Always. Haptic feedback (phone vibration) is not implemented yet.
-        """
         # We could add haptic feedback (vibrations) here, but it's not implemented yet
         raise NotImplementedError
 
 
 class IOSPhone(BasePhone, Teleoperator):
-    """ARKit-based teleoperator backend for iOS, driven through the HEBI Mobile I/O app.
-
-    Reads the phone's 6-DoF pose (position and orientation) captured by ARKit and relayed over the HEBI
-    SDK, along with the app's 8 analog (`a1`-`a8`) and 8 digital (`b1`-`b8`) inputs. `Phone` instantiates
-    this internally when `PhoneConfig.phone_os` is `PhoneOS.IOS`; use `Phone` directly rather than this
-    class.
-    """
-
     name = "ios_phone"
 
     def __init__(self, config: PhoneConfig):
-        """Check for the optional dependencies this backend needs and store the configuration.
-
-        Args:
-            config (`PhoneConfig`):
-                Configuration shared with the parent `Phone` teleoperator.
-
-        Raises:
-            ImportError: If the `hebi-py` or `teleop` packages are not installed.
-        """
         require_package("hebi-py", extra="phone", import_name="hebi")
         require_package("teleop", extra="phone")
         super().__init__(config)
@@ -152,26 +92,10 @@ class IOSPhone(BasePhone, Teleoperator):
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`].
-
-        Returns:
-            `bool`: `True` once a HEBI feedback group has been acquired by `connect`.
-        """
         return self._group is not None
 
     @check_if_already_connected
     def connect(self) -> None:
-        """Look up the HEBI Mobile I/O group over the network, then calibrate.
-
-        Waits briefly for the HEBI lookup service to discover the phone running the Mobile I/O app under
-        the `"HEBI"` family / `"mobileIO"` name, then immediately runs `calibrate`, which blocks until the
-        user captures a reference pose in the app. Unlike
-        [`~teleoperators.Teleoperator.connect`], this method always calibrates; there is no way to skip it.
-
-        Raises:
-            DeviceAlreadyConnectedError: If already connected.
-            RuntimeError: If no matching Mobile I/O group is found on the network.
-        """
         logger.info("Connecting to IPhone, make sure to open the HEBI Mobile I/O app.")
         lookup = hebi.Lookup()
         time.sleep(2.0)
@@ -184,13 +108,6 @@ class IOSPhone(BasePhone, Teleoperator):
         self.calibrate()
 
     def calibrate(self) -> None:
-        """Block until the user captures a reference pose via the HEBI Mobile I/O app.
-
-        Prompts the user to hold the phone so its top edge points along the robot's +x axis and its
-        screen faces the robot's +z axis, then to press and hold button `B1` in the app to capture that
-        pose as the calibration reference. See [`~teleoperators.Teleoperator.calibrate`] for the base
-        contract.
-        """
         print(
             "Hold the phone so that: top edge points forward in same direction as the robot (robot +x) and screen points up (robot +z)"
         )
@@ -202,7 +119,8 @@ class IOSPhone(BasePhone, Teleoperator):
         print("Calibration done\n")
 
     def _wait_for_capture_trigger(self) -> tuple[np.ndarray, Rotation]:
-        """Blocks execution until the calibration trigger is detected from the iOS device.
+        """
+        Blocks execution until the calibration trigger is detected from the iOS device.
 
         This method enters a loop, continuously reading the phone's state. It waits for the user to press
         and hold the 'B1' button in the HEBI Mobile I/O app. Once B1 is pressed, the loop breaks and
@@ -229,7 +147,8 @@ class IOSPhone(BasePhone, Teleoperator):
             time.sleep(0.01)
 
     def _read_current_pose(self) -> tuple[bool, np.ndarray | None, Rotation | None, object | None]:
-        """Reads the instantaneous 6-DoF pose from the connected iOS device via the HEBI SDK.
+        """
+        Reads the instantaneous 6-DoF pose from the connected iOS device via the HEBI SDK.
 
         This method fetches the latest feedback packet from the HEBI group, extracts the ARKit
         position and orientation, and converts them into a standard format. It also applies a
@@ -264,20 +183,6 @@ class IOSPhone(BasePhone, Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict:
-        """Read the phone's current calibrated pose and raw HEBI inputs.
-
-        Applies the calibration captured by `calibrate` to the raw ARKit pose, and re-anchors the
-        reference position on the rising edge of the `b1` "enable" button so that moving the phone while
-        disabled does not cause a jump once teleoperation resumes.
-
-        Returns:
-            `dict`: Matches `action_features`: `"phone.pos"`, `"phone.rot"`, `"phone.raw_inputs"` (the
-            app's analog/digital channel values, keyed e.g. `"a1"`, `"b1"`), and `"phone.enabled"`. An
-            empty `dict` if no pose has been received yet or the teleoperator has not been calibrated.
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         has_pose, raw_position, raw_rotation, fb_pose = self._read_current_pose()
         if not has_pose or not self.is_calibrated:
             return {}
@@ -319,34 +224,13 @@ class IOSPhone(BasePhone, Teleoperator):
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`].
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         self._group = None
 
 
 class AndroidPhone(BasePhone, Teleoperator):
-    """WebXR-based teleoperator backend for Android, driven through the `teleop` Python package.
-
-    Runs the `teleop` package's local WebXR server on a background thread and reads the pose and touch
-    events posted by the phone's browser session. `Phone` instantiates this internally when
-    `PhoneConfig.phone_os` is `PhoneOS.ANDROID`; use `Phone` directly rather than this class.
-    """
-
     name = "android_phone"
 
     def __init__(self, config: PhoneConfig):
-        """Check for the optional dependencies this backend needs and store the configuration.
-
-        Args:
-            config (`PhoneConfig`):
-                Configuration shared with the parent `Phone` teleoperator.
-
-        Raises:
-            ImportError: If the `hebi-py` or `teleop` packages are not installed.
-        """
         require_package("hebi-py", extra="phone", import_name="hebi")
         require_package("teleop", extra="phone")
         super().__init__(config)
@@ -359,26 +243,10 @@ class AndroidPhone(BasePhone, Teleoperator):
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`].
-
-        Returns:
-            `bool`: `True` once the `teleop` background thread has been started by `connect`.
-        """
         return self._teleop is not None
 
     @check_if_already_connected
     def connect(self) -> None:
-        """Start the `teleop` WebXR server on a background thread, then calibrate.
-
-        Subscribes to pose/message updates from the `teleop` package and starts its server loop on a
-        daemon thread, then immediately runs `calibrate`, which blocks until the user captures a reference
-        pose from the phone's browser session. Unlike
-        [`~teleoperators.Teleoperator.connect`], this method always calibrates; there is no way to skip
-        it.
-
-        Raises:
-            DeviceAlreadyConnectedError: If already connected.
-        """
         logger.info("Starting teleop stream for Android...")
         self._teleop = Teleop()
         self._teleop.subscribe(self._android_callback)
@@ -389,13 +257,6 @@ class AndroidPhone(BasePhone, Teleoperator):
         self.calibrate()
 
     def calibrate(self) -> None:
-        """Block until the user captures a reference pose via touch on the WebXR page.
-
-        Prompts the user to hold the phone so its top edge points along the robot's +x axis and its
-        screen faces the robot's +z axis, then to touch and move a finger on the WebXR page to capture
-        that pose as the calibration reference. See [`~teleoperators.Teleoperator.calibrate`] for the base
-        contract.
-        """
         print(
             "Hold the phone so that: top edge points forward in same direction as the robot (robot +x) and screen points up (robot +z)"
         )
@@ -408,7 +269,8 @@ class AndroidPhone(BasePhone, Teleoperator):
         print("Calibration done\n")
 
     def _wait_for_capture_trigger(self) -> tuple[np.ndarray, Rotation]:
-        """Blocks execution until the calibration trigger is detected from the Android device.
+        """
+        Blocks execution until the calibration trigger is detected from the Android device.
 
         This method enters a loop, continuously checking the latest message received from the WebXR
         session. It waits for the user to touch and move their finger on the screen, which generates
@@ -431,7 +293,8 @@ class AndroidPhone(BasePhone, Teleoperator):
             time.sleep(0.01)
 
     def _read_current_pose(self) -> tuple[bool, np.ndarray | None, Rotation | None, object | None]:
-        """Reads the latest 6-DoF pose received from the Android device's WebXR session.
+        """
+        Reads the latest 6-DoF pose received from the Android device's WebXR session.
 
         This method accesses the most recent pose data stored by the `_android_callback`. It uses a
         thread lock to safely read the shared `_latest_pose` variable. The pose, a 4x4 matrix, is
@@ -454,7 +317,8 @@ class AndroidPhone(BasePhone, Teleoperator):
         return True, pos, rot, pose
 
     def _android_callback(self, pose: np.ndarray, message: dict) -> None:
-        """Callback function to handle incoming data from the Android teleop stream.
+        """
+        Callback function to handle incoming data from the Android teleop stream.
 
         This method is executed by the `teleop` package's subscriber thread whenever a new
         pose and message are received from the WebXR session on the Android phone. It updates
@@ -472,20 +336,6 @@ class AndroidPhone(BasePhone, Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict:
-        """Read the phone's current calibrated pose and raw touch/button state.
-
-        Applies the calibration captured by `calibrate` to the latest pose received from the `teleop`
-        background thread, and re-anchors the reference position on the rising edge of the `"move"` touch
-        event so that moving the phone while disabled does not cause a jump once teleoperation resumes.
-
-        Returns:
-            `dict`: Matches `action_features`: `"phone.pos"`, `"phone.rot"`, `"phone.raw_inputs"`
-            (`"move"`, `"scale"`, `"reservedButtonA"`, `"reservedButtonB"`), and `"phone.enabled"`. An
-            empty `dict` if no pose has been received yet or the teleoperator has not been calibrated.
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         ok, raw_pos, raw_rot, pose = self._read_current_pose()
         if not ok or not self.is_calibrated:
             return {}
@@ -519,11 +369,6 @@ class AndroidPhone(BasePhone, Teleoperator):
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Stop the `teleop` background thread.
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         self._teleop = None
         if self._teleop_thread and self._teleop_thread.is_alive():
             self._teleop_thread.join(timeout=1.0)
@@ -532,42 +377,18 @@ class AndroidPhone(BasePhone, Teleoperator):
 
 
 class Phone(Teleoperator):
-    """Phone-based teleoperator: iOS via ARKit and the HEBI Mobile I/O app, Android via WebXR.
+    """
+    Phone-based teleoperator using ARKit (iOS via HEBI Mobile I/O App) or the teleop Python package (Android via WebXR API).
+    For HEBI Mobile I/O we also expose 8 analog (a1-a8) and 8 digital (b1-b8) inputs.
 
-    Reads the phone's 6-DoF pose and, for the HEBI Mobile I/O app, 8 analog (`a1`-`a8`) and 8 digital
-    (`b1`-`b8`) inputs. Which backend is used is picked at construction time from
-    `config.phone_os` and delegated to internally: [`~teleoperators.Teleoperator`] method calls on `Phone`
-    forward to either an `IOSPhone` or an `AndroidPhone` instance.
-
-    Press and hold **B1** (iOS) or touch and move on the WebXR page (Android) to enable teleoperation.
-    The first press/touch while enabled captures a reference pose; releasing and re-triggering re-anchors
-    the reference position to wherever the phone currently is, so motion is always relative to where
-    teleoperation was last resumed.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.phone import Phone, PhoneConfig
-        >>> teleop = Phone(PhoneConfig())  # doctest: +SKIP
-        >>> teleop.connect()  # doctest: +SKIP
-        >>> teleop.get_action()  # doctest: +SKIP
-        ```
+    Press and hold **B1** to enable teleoperation. While enabled, the first B1 press
+    captures a reference pose and rotation, when disabled and pressed again the position is reapplied.
     """
 
     config_class = PhoneConfig
     name = "phone"
 
     def __init__(self, config: PhoneConfig):
-        """Pick and construct the backend matching `config.phone_os`.
-
-        Args:
-            config (`PhoneConfig`):
-                Configuration selecting the phone platform (`config.phone_os`) and forwarded to the
-                chosen backend.
-
-        Raises:
-            ValueError: If `config.phone_os` is not a valid `PhoneOS` member.
-            ImportError: If the `hebi-py` or `teleop` packages are not installed.
-        """
         super().__init__(config)
         self.config = config
 
@@ -582,89 +403,34 @@ class Phone(Teleoperator):
 
     @property
     def is_connected(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_connected`].
-
-        Returns:
-            `bool`: `True` if the underlying `IOSPhone` or `AndroidPhone` backend is connected.
-        """
         return self._phone_impl.is_connected
 
     def connect(self) -> None:
-        """Connect and calibrate through the underlying backend.
-
-        Unlike [`~teleoperators.Teleoperator.connect`], this always calibrates; there is no `calibrate`
-        argument to opt out.
-
-        Raises:
-            DeviceAlreadyConnectedError: If already connected.
-            RuntimeError: If the iOS backend cannot find the Mobile I/O group on the network.
-        """
         return self._phone_impl.connect()
 
     def calibrate(self) -> None:
-        """See [`~teleoperators.Teleoperator.calibrate`]. Delegates to the underlying backend."""
         return self._phone_impl.calibrate()
 
     @property
     def is_calibrated(self) -> bool:
-        """See [`~teleoperators.Teleoperator.is_calibrated`].
-
-        Returns:
-            `bool`: `True` once a calibration reference pose has been captured.
-        """
         return self._phone_impl.is_calibrated
 
     @property
     def action_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict[str, type]`: `"phone.pos"`, `"phone.rot"`, `"phone.raw_inputs"`, and `"phone.enabled"`
-            mapped to their value types; see `get_action` for what each holds.
-        """
         return self._phone_impl.action_features
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """See [`~teleoperators.Teleoperator.feedback_features`].
-
-        Returns:
-            `dict[str, type]`: Currently always `None`, since no feedback channel is implemented yet.
-        """
         return self._phone_impl.feedback_features
 
     def configure(self) -> None:
-        """No-op. See [`~teleoperators.Teleoperator.configure`]."""
         return self._phone_impl.configure()
 
     def get_action(self) -> dict:
-        """Read the phone's current calibrated pose and raw inputs from the underlying backend.
-
-        Returns:
-            `dict`: Matches `action_features`. An empty `dict` if no pose has been received yet or the
-            teleoperator has not been calibrated.
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         return self._phone_impl.get_action()
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not implemented. See [`~teleoperators.Teleoperator.send_feedback`].
-
-        Args:
-            feedback (`dict[str, float]`):
-                Feedback values; unused.
-
-        Raises:
-            NotImplementedError: Always. Haptic feedback is not implemented yet.
-        """
         return self._phone_impl.send_feedback(feedback)
 
     def disconnect(self) -> None:
-        """See [`~teleoperators.Teleoperator.disconnect`]. Delegates to the underlying backend.
-
-        Raises:
-            DeviceNotConnectedError: If `connect` has not been called.
-        """
         return self._phone_impl.disconnect()

src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py

@@ -22,37 +22,6 @@ from ..config import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("reachy2_teleoperator")
 @dataclass
 class Reachy2TeleoperatorConfig(TeleoperatorConfig):
-    """Configuration for reading teleoperation actions from a Reachy 2.
-
-    Reachy 2 can act as its own teleoperator: instead of a leader arm, another Reachy 2 (or the same one in
-    a different mode) reports its joint positions over the network as the action. There is no LeRobot
-    calibration file; Reachy 2 manages its own calibration.
-
-    Which joints are reported is selected by the `with_*` flags: turning a part off removes its joints
-    entirely. At least one part must stay enabled.
-
-    Args:
-        ip_address (`str`, *optional*, defaults to `"localhost"`):
-            Address of the Reachy 2 robot to read actions from.
-        use_present_position (`bool`, *optional*, defaults to `False`):
-            Whether to report each joint's present position as the action. If `False`, the joint's goal
-            position is reported instead.
-        with_mobile_base (`bool`, *optional*, defaults to `True`):
-            Whether to include the mobile base's velocity in actions.
-        with_l_arm (`bool`, *optional*, defaults to `True`):
-            Whether to include the left arm's joints.
-        with_r_arm (`bool`, *optional*, defaults to `True`):
-            Whether to include the right arm's joints.
-        with_neck (`bool`, *optional*, defaults to `True`):
-            Whether to include the neck's joints.
-        with_antennas (`bool`, *optional*, defaults to `True`):
-            Whether to include the antennas' joints.
-        id (`str`, *optional*):
-            Identifier for this particular teleoperator.
-        calibration_dir (`Path`, *optional*):
-            Unused: Reachy 2 manages its own calibration.
-    """
-
     # IP address of the Reachy 2 robot used as teleoperator
     ip_address: str | None = "localhost"
 
@@ -68,11 +37,6 @@ class Reachy2TeleoperatorConfig(TeleoperatorConfig):
     with_antennas: bool = True
 
     def __post_init__(self):
-        """Validate that at least one robot part is enabled.
-
-        Raises:
-            ValueError: If every robot part is disabled, which would leave no joints to report.
-        """
         if not (
             self.with_mobile_base
             or self.with_l_arm

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

@@ -76,19 +76,14 @@ REACHY2_VEL = {
 
 
 class Reachy2Teleoperator(Teleoperator):
-    """[Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics."""
+    """
+    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
+    """
 
     config_class = Reachy2TeleoperatorConfig
     name = "reachy2_specific"
 
     def __init__(self, config: Reachy2TeleoperatorConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`Reachy2TeleoperatorConfig`):
-                The teleoperator's configuration. Its `ip_address` and `with_*` flags determine what is
-                read.
-        """
         require_package("reachy2_sdk", extra="reachy2")
         super().__init__(config)
 
@@ -111,13 +106,6 @@ class Reachy2Teleoperator(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """The joint positions (and mobile base velocity, if enabled) read from Reachy 2.
-
-        Returns:
-            `dict[str, type]`: `"<joint>.pos"` keys for each enabled part mapped to `float`, plus
-            `"mobile_base.vx"`, `"mobile_base.vy"`, and `"mobile_base.vtheta"` when
-            `config.with_mobile_base` is `True`.
-        """
         if self.config.with_mobile_base:
             return {
                 **dict.fromkeys(
@@ -134,32 +122,14 @@ class Reachy2Teleoperator(Teleoperator):
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """Always empty: this teleoperator does not accept feedback.
-
-        Returns:
-            `dict[str, type]`: An empty dictionary.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`]."""
         return self.reachy.is_connected() if self.reachy is not None else False
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Open the gRPC connection to Reachy 2's teleoperation interface.
-
-        The `calibrate` argument is accepted for interface compatibility but has no effect: Reachy 2
-        manages its own calibration.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Unused.
-
-        Raises:
-            DeviceNotConnectedError: If the connection could not be established.
-        """
         self.reachy = ReachySDK(self.config.ip_address)
 
         if not self.is_connected:
@@ -168,32 +138,16 @@ class Reachy2Teleoperator(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Always `True`: Reachy 2 manages its own calibration.
-
-        Returns:
-            `bool`: Always `True`.
-        """
         return True
 
     def calibrate(self) -> None:
-        """No-op: Reachy 2 manages its own calibration."""
         pass
 
     def configure(self) -> None:
-        """No-op: Reachy 2 requires no additional configuration."""
         pass
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Read the current (or goal) joint positions and mobile base velocity from Reachy 2.
-
-        Returns:
-            `dict[str, float]`: Values keyed as described by
-            [`~teleoperators.Teleoperator.action_features`].
-
-        Raises:
-            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
-        """
         start = time.perf_counter()
 
         joint_action: dict[str, float] = {}
@@ -216,14 +170,8 @@ class Reachy2Teleoperator(Teleoperator):
         return {**joint_action, **vel_action}
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported.
-
-        Raises:
-            NotImplementedError: Always. This teleoperator does not accept feedback.
-        """
         raise NotImplementedError
 
     def disconnect(self) -> None:
-        """Close the gRPC connection to Reachy 2, if it is open."""
         if self.is_connected:
             self.reachy.disconnect()

src/lerobot/teleoperators/rebot_102_leader/config_rebot_102_leader.py

@@ -21,14 +21,10 @@ from ..config import TeleoperatorConfig
 
 @dataclass
 class RebotArm102LeaderConfig:
-    """Field definitions shared by the reBot Arm 102 leader.
+    """Base configuration class for the Seeed Studio StarArm102 / reBot Arm 102 leader.
 
-    The reBot Arm 102 is a 7-joint (incl. gripper) leader arm driven by FashionStar UART smart servos.
-    Servo communication goes through ``motorbridge-smart-servo``.
-
-    This class only carries the fields. The registered configuration users instantiate is
-    [`RebotArm102LeaderTeleopConfig`], which combines these with [`~teleoperators.TeleoperatorConfig`] and
-    documents them all in one place — doc-builder renders only a class's own docstring, never its bases'.
+    The reBot Arm 102 is a 7-joint (incl. gripper) leader arm driven by FashionStar
+    UART smart servos. Servo communication goes through ``motorbridge-smart-servo``.
     """
 
     # USB-to-UART device the leader arm is connected to (e.g. "/dev/ttyUSB0").
@@ -82,28 +78,6 @@ class RebotArm102LeaderConfig:
 @TeleoperatorConfig.register_subclass("rebot_102_leader")
 @dataclass
 class RebotArm102LeaderTeleopConfig(TeleoperatorConfig, RebotArm102LeaderConfig):
-    """Registered configuration for the reBot Arm 102 leader teleoperator.
-
-    Args:
-        port (`str`):
-            USB-to-UART device the leader arm is connected to, e.g. `/dev/ttyUSB0`.
-        baudrate (`int`, *optional*, defaults to 1000000):
-            Baud rate of the UART link to the FashionStar smart servos.
-        joint_ids (`dict[str, int]`, *optional*):
-            Servo id of each joint on the UART bus. Defaults to the reBot Arm 102's standard 7-joint
-            layout (`shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_yaw`,
-            `wrist_roll`, `gripper`).
-        joint_directions (`dict[str, int]`, *optional*):
-            Per-joint sign applied to raw servo angles so the leader matches the follower convention. The
-            gripper additionally carries a scale (e.g. `-6`) to widen its range to the reBot B601
-            follower's gripper travel.
-        joint_ranges (`dict[str, list[int]]`, *optional*):
-            Per-joint `[min, max]` output range in degrees. Defaults to ranges matching the reBot B601
-            follower's joint limits so leader actions can drive the follower key-for-key.
-        id (`str`, *optional*):
-            Identifier for this particular arm; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-    """
+    """Registered configuration for the reBot Arm 102 leader teleoperator."""
 
     pass

src/lerobot/teleoperators/rebot_102_leader/rebot_102_leader.py

@@ -49,12 +49,6 @@ class RebotArm102Leader(Teleoperator):
     name = "rebot_102_leader"
 
     def __init__(self, config: RebotArm102LeaderTeleopConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`RebotArm102LeaderTeleopConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected.
-        """
         require_package("motorbridge-smart-servo", extra="rebot", import_name="motorbridge_smart_servo")
         super().__init__(config)
         self.config = config
@@ -64,39 +58,18 @@ class RebotArm102Leader(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """The arm's joint positions, in degrees.
-
-        Returns:
-            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
-        """
         return {f"{motor}.pos": float for motor in self.motor_names}
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """This arm accepts no feedback.
-
-        Returns:
-            `dict[str, type]`: Always empty.
-        """
         return {}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`]: the servo bus has been opened."""
         return self.bus is not None
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Open the UART servo bus, ping every configured joint, then calibrate and configure the arm.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run calibration when the arm is not already calibrated. Calibration is
-                interactive and prompts on stdin.
-
-        Raises:
-            RuntimeError: If a configured servo does not respond to a ping.
-        """
         logger.info(f"Connecting {self} on {self.config.port}...")
         bus = FashionStarServo(self.config.port, baudrate=self.config.baudrate)
         try:
@@ -122,20 +95,9 @@ class RebotArm102Leader(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Whether every configured joint has a saved calibration entry.
-
-        Returns:
-            `bool`: `True` if `self.calibration` has an entry for each of `self.motor_names`.
-        """
         return bool(self.calibration) and set(self.calibration) == set(self.motor_names)
 
     def calibrate(self) -> None:
-        """Set the zero position of every joint from the arm's current pose.
-
-        If a calibration file already exists, prompts the operator to reuse it or to redo calibration. To
-        redo it, the operator manually moves the arm to its zero pose (gripper closed); each servo's
-        origin point is then reset to that pose and the result is saved to the calibration file.
-        """
         if self.calibration:
             user_input = input(
                 f"Press ENTER to use provided calibration file associated with the id {self.id}, "
@@ -170,10 +132,6 @@ class RebotArm102Leader(Teleoperator):
         logger.info(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """Unlock every servo's torque and reset each one's multi-turn counter.
-
-        Run once after connecting so subsequent readings start from a known turn count.
-        """
         for motor_id in self.config.joint_ids.values():
             self.bus.unlock(motor_id)
             time.sleep(_SETTLE_SEC)
@@ -207,16 +165,6 @@ class RebotArm102Leader(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> RobotAction:
-        """Read, unwrap, and sign-correct the current joint positions.
-
-        Each joint's raw multi-turn angle is unwrapped into its configured range (see
-        `_round_to_valid_range`), then flipped and clipped according to `joint_directions` and
-        `joint_ranges` so the result matches the follower's convention. If reading the servos fails, the
-        last successfully read positions are reused and the caller is expected to stop teleoperation.
-
-        Returns:
-            `dict[str, float]`: `"<motor>.pos"` keys mapped to the joint's position in degrees.
-        """
         start = time.perf_counter()
         try:
             raw_positions = self._read_raw_positions()
@@ -250,16 +198,10 @@ class RebotArm102Leader(Teleoperator):
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Not supported: the leader arm has no actuators to receive feedback.
-
-        Raises:
-            NotImplementedError: Always.
-        """
         raise NotImplementedError("Feedback is not implemented for the reBot Arm 102 leader.")
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Close the UART servo bus."""
         self.bus.close()
         self.bus = None
         logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/so_leader/config_so_leader.py

@@ -21,12 +21,7 @@ from ..config import TeleoperatorConfig
 
 @dataclass
 class SOLeaderConfig:
-    """Field definitions shared by the SO-family leader arms.
-
-    This class only carries the fields. The registered configuration users instantiate is
-    [`SOLeaderTeleopConfig`], which combines these with [`~teleoperators.TeleoperatorConfig`] and documents
-    them all in one place — doc-builder renders only a class's own docstring, never its bases'.
-    """
+    """Base configuration class for SO Leader teleoperators."""
 
     # Port to connect to the arm
     port: str
@@ -45,36 +40,6 @@ class SOLeaderConfig:
 @TeleoperatorConfig.register_subclass("so100_leader")
 @dataclass
 class SOLeaderTeleopConfig(TeleoperatorConfig, SOLeaderConfig):
-    """Configuration for the SO-100 and SO-101 leader arms.
-
-    Both arms share this class; `SO100LeaderConfig` and `SO101LeaderConfig` are aliases for it. They differ
-    in their calibration and gearing, not in their control code.
-
-    Args:
-        port (`str`):
-            Serial port the arm is connected to, e.g. `/dev/ttyACM0` on Linux or `COM3` on Windows. Run
-            `lerobot-find-port` to identify it.
-        use_degrees (`bool`, *optional*, defaults to `True`):
-            Whether to report joint positions in degrees. Keep `True` for compatibility with existing
-            policies and datasets.
-        num_read_retries (`int`, *optional*, defaults to 2):
-            Extra attempts when a `sync_read` fails. Feetech buses occasionally return a corrupted status
-            packet, especially when several joints move at once, which would otherwise abort the
-            teleoperation loop. Retries are immediate and only happen on failure, so steady-state read cost
-            is unchanged.
-        id (`str`, *optional*):
-            Identifier for this particular arm; also names its calibration file.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
-        >>> config = SO101LeaderConfig(port="/dev/ttyACM0")  # doctest: +SKIP
-        >>> teleop = SO101Leader(config)  # doctest: +SKIP
-        ```
-    """
-
     pass
 
 

src/lerobot/teleoperators/so_leader/so_leader.py

@@ -31,34 +31,12 @@ logger = logging.getLogger(__name__)
 
 
 class SOLeader(Teleoperator):
-    """The SO-family leader arm: a 5-DOF arm plus gripper on a Feetech bus, held to teleoperate a follower arm.
-
-    `SO100Leader` and `SO101Leader` are aliases of this class. The two arms differ in calibration and
-    gearing, not control code, so both are driven through the same implementation with a different
-    `config_class` and `name`.
-
-    Actions are keyed `"<motor>.pos"`. See [`~teleoperators.Teleoperator`] for the contract every method
-    here implements.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
-        >>> teleop = SO101Leader(SO101LeaderConfig(port="/dev/ttyACM0"))  # doctest: +SKIP
-        >>> with teleop:  # doctest: +SKIP
-        ...     action = teleop.get_action()
-        ```
-    """
+    """Generic SO leader base for SO-100/101/10X teleoperators."""
 
     config_class = SOLeaderTeleopConfig
     name = "so_leader"
 
     def __init__(self, config: SOLeaderTeleopConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`SOLeaderTeleopConfig`):
-                The teleoperator's configuration. Its `port` determines what is connected.
-        """
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -77,42 +55,18 @@ class SOLeader(Teleoperator):
 
     @property
     def action_features(self) -> dict[str, type]:
-        """The arm's joint positions.
-
-        Returns:
-            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
-        """
         return {f"{motor}.pos": float for motor in self.bus.motors}
 
     @property
     def feedback_features(self) -> dict[str, type]:
-        """The arm's target joint positions, used to sync this leader arm to another pose.
-
-        Shares the same keys as [`~teleoperators.Teleoperator.action_features`], since feedback for this
-        arm is a goal position written to each motor.
-
-        Returns:
-            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
-        """
         return self.action_features
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`]."""
         return self.bus.is_connected
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """Connect the motor bus, calibrating and configuring the arm.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run calibration when the motors disagree with the calibration file, or no file
-                exists yet. Calibration is interactive and prompts on stdin.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the teleoperator is already connected.
-        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -125,15 +79,9 @@ class SOLeader(Teleoperator):
 
     @property
     def is_calibrated(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_calibrated`]."""
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """Calibrate the arm, writing the result to the motors and the calibration file.
-
-        This is interactive: it prompts on stdin to reuse an existing calibration file, and otherwise asks
-        you to move the arm to its middle position and then through each joint's full range.
-        """
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
             user_input = input(
@@ -177,34 +125,18 @@ class SOLeader(Teleoperator):
         print(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
-        """Disable torque and write the position-mode operating mode to every motor.
-
-        Torque is left disabled so the arm can be moved freely by hand while teleoperating.
-        """
         self.bus.disable_torque()
         self.bus.configure_motors()
         for motor in self.bus.motors:
             self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
 
     def enable_torque(self) -> None:
-        """Enable torque on every motor.
-
-        Useful to briefly drive the arm to a position (e.g. via
-        [`~teleoperators.so_leader.SOLeader.send_feedback`]) before releasing it back to free movement with
-        [`~teleoperators.so_leader.SOLeader.disable_torque`].
-        """
         self.bus.enable_torque()
 
     def disable_torque(self) -> None:
-        """Disable torque on every motor, letting the arm be moved freely by hand."""
         self.bus.disable_torque()
 
     def setup_motors(self) -> None:
-        """Assign each motor its bus ID, one at a time.
-
-        Run this once when building an arm. It is interactive: it prompts you to connect the controller
-        board to a single motor at a time, working from the gripper back to the base.
-        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -212,14 +144,6 @@ class SOLeader(Teleoperator):
 
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
-        """Same as [`~teleoperators.Teleoperator.get_action`].
-
-        Returns:
-            `dict[str, float]`: `"<motor>.pos"` keys mapped to the arm's current joint positions.
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         start = time.perf_counter()
         action = self.bus.sync_read("Present_Position", num_retry=self.config.num_read_retries)
         action = {f"{motor}.pos": val for motor, val in action.items()}
@@ -229,29 +153,12 @@ class SOLeader(Teleoperator):
 
     @check_if_not_connected
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Write goal positions to the arm's motors, e.g. to sync it to a follower's current pose.
-
-        Torque must be enabled (see [`~teleoperators.so_leader.SOLeader.enable_torque`]) for the arm to
-        actually move to the written positions.
-
-        Args:
-            feedback (`dict[str, float]`):
-                `"<motor>.pos"` keys mapped to target positions. Keys not ending in `.pos` are ignored.
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         goals = {k.removesuffix(".pos"): v for k, v in feedback.items() if k.endswith(".pos")}
         if goals:
             self.bus.sync_write("Goal_Position", goals)
 
     @check_if_not_connected
     def disconnect(self) -> None:
-        """Same as [`~teleoperators.Teleoperator.disconnect`].
-
-        Raises:
-            DeviceNotConnectedError: If the teleoperator is not connected.
-        """
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")
 

src/lerobot/teleoperators/unitree_g1/config_unitree_g1.py

@@ -21,15 +21,7 @@ from ..config import TeleoperatorConfig
 
 @dataclass
 class ExoskeletonArmPortConfig:
-    """Serial port configuration for one exoskeleton arm.
-
-    Args:
-        port (`str`, *optional*, defaults to `""`):
-            Serial port the exoskeleton arm's sensor board is connected to, e.g. `/dev/ttyUSB0`. An empty
-            string disables exoskeleton control for that arm.
-        baud_rate (`int`, *optional*, defaults to 115200):
-            Baud rate for the serial connection.
-    """
+    """Serial port configuration for individual exoskeleton arm."""
 
     port: str = ""
     baud_rate: int = 115200
@@ -38,26 +30,6 @@ class ExoskeletonArmPortConfig:
 @TeleoperatorConfig.register_subclass("unitree_g1")
 @dataclass
 class UnitreeG1TeleoperatorConfig(TeleoperatorConfig):
-    """Configuration for the Unitree G1 bimanual exoskeleton teleoperator.
-
-    Args:
-        left_arm_config (`ExoskeletonArmPortConfig`, *optional*):
-            Serial port settings for the left exoskeleton arm. Leave `port` empty to run without exoskeleton
-            control on this side.
-        right_arm_config (`ExoskeletonArmPortConfig`, *optional*):
-            Serial port settings for the right exoskeleton arm. Leave `port` empty to run without
-            exoskeleton control on this side.
-        frozen_joints (`str`, *optional*, defaults to `""`):
-            Comma-separated G1 arm joint names to exclude from the exoskeleton-driven inverse kinematics.
-            These joints are held at their neutral pose instead of being tracked.
-        id (`str`, *optional*):
-            Identifier for this particular unit, used to tell apart several teleoperators of the same
-            type. It also names the calibration file, so keep it stable for a given piece of hardware.
-        calibration_dir (`Path`, *optional*):
-            Where to read and write the calibration file. Defaults to a per-teleoperator directory under
-            the LeRobot calibration home.
-    """
-
     left_arm_config: ExoskeletonArmPortConfig = field(default_factory=ExoskeletonArmPortConfig)
     right_arm_config: ExoskeletonArmPortConfig = field(default_factory=ExoskeletonArmPortConfig)
 

src/lerobot/teleoperators/unitree_g1/exo_calib.py

@@ -14,8 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""This module handles calibration of hall effect sensors used in the exoskeleton.
-
+"""
+This module handles calibration of hall effect sensors used in the exoskeleton.
 Each joint has a pair of ADC channels outputting sin and cos values that trace an ellipse
 as the joint rotates due to imprecision in magnet/sensor placement. We fit this ellipse to a unit circle,
 and calculate arctan2 of the unit circle to get the joint angle.
@@ -59,21 +59,6 @@ JOINTS = {
 
 @dataclass
 class ExoskeletonJointCalibration:
-    """Per-joint calibration mapping raw sin/cos ADC pairs to an angle in radians.
-
-    Args:
-        name (`str`):
-            Joint name, matching a key in `JOINTS`.
-        center_fit (`list[float]`):
-            The `[x, y]` center of the ellipse fitted to this joint's raw sin/cos ADC readings.
-        T (`list[list[float]]`):
-            2x2 transformation matrix mapping a centered raw reading onto the unit circle, correcting for
-            the fitted ellipse's scale and rotation.
-        zero_offset (`float`, *optional*, defaults to 0.0):
-            Angle, in radians, measured while the joint was held at its neutral pose. Subtracted from the
-            raw angle so the neutral pose reads as zero.
-    """
-
     name: str  # joint name
     center_fit: list[float]  # center of the ellipse
     T: list[list[float]]  # 2x2 transformation matrix
@@ -90,11 +75,6 @@ class ExoskeletonCalibration:
     joints: list[ExoskeletonJointCalibration] = field(default_factory=list)
 
     def to_dict(self) -> dict:
-        """Serialize this calibration to a plain dict suitable for JSON storage.
-
-        Returns:
-            `dict`: The calibration with nested joint calibrations flattened to plain dicts.
-        """
         return {
             "version": self.version,
             "side": self.side,
@@ -112,15 +92,6 @@ class ExoskeletonCalibration:
 
     @classmethod
     def from_dict(cls, data: dict) -> ExoskeletonCalibration:
-        """Reconstruct a calibration from the dict produced by `to_dict`.
-
-        Args:
-            data (`dict`):
-                Parsed JSON calibration data. Missing optional keys fall back to their defaults.
-
-        Returns:
-            `ExoskeletonCalibration`: The reconstructed calibration.
-        """
         joints = [
             ExoskeletonJointCalibration(
                 name=j["name"],
@@ -140,32 +111,6 @@ class ExoskeletonCalibration:
 
 @dataclass(frozen=True)
 class CalibParams:
-    """Tuning knobs for the interactive ellipse-fitting calibration UI.
-
-    Args:
-        fit_every (`float`, *optional*, defaults to 0.15):
-            Minimum time, in seconds, between successive ellipse re-fits while mapping a joint's range.
-        min_fit_points (`int`, *optional*, defaults to 60):
-            Minimum number of buffered samples required before attempting an ellipse fit.
-        fit_window (`int`, *optional*, defaults to 900):
-            Number of most recent raw samples considered for each ellipse fit.
-        max_fit_points (`int`, *optional*, defaults to 300):
-            Maximum number of points passed to the ellipse fitter; the fit window is downsampled evenly
-            above this count.
-        trim_low (`float`, *optional*, defaults to 0.05):
-            Lower radius quantile below which points are treated as outliers and discarded before fitting.
-        trim_high (`float`, *optional*, defaults to 0.95):
-            Upper radius quantile above which points are treated as outliers and discarded before fitting.
-        median_window (`int`, *optional*, defaults to 5):
-            Number of raw samples averaged (median) to smooth each sin/cos reading before it is buffered.
-        history (`int`, *optional*, defaults to 3500):
-            Maximum number of samples retained per plot, for visualization only.
-        draw_hz (`float`, *optional*, defaults to 120.0):
-            Maximum refresh rate of the calibration plot.
-        sample_count (`int`, *optional*, defaults to 50):
-            Number of samples averaged to compute a joint's zero-pose offset.
-    """
-
     fit_every: float = 0.15
     min_fit_points: int = 60
     fit_window: int = 900
@@ -184,7 +129,9 @@ def normalize_angle(angle: float) -> float:
 
 
 def joint_z_and_angle(raw16: list[int], j: ExoskeletonJointCalibration) -> tuple[np.ndarray, float]:
-    """Applies calibration to each joint: raw → centered → ellipse-to-circle → angle."""
+    """
+    Applies calibration to each joint: raw → centered → ellipse-to-circle → angle.
+    """
     pair = JOINTS[j.name]
     s, c = raw16[pair[0]], raw16[pair[1]]  # get sin and cos
     p = np.array([float(c) - ADC_HALF, float(s) - ADC_HALF])  # center the raw values
@@ -206,7 +153,9 @@ def run_exo_calibration(
     save_path: Path,
     params: CalibParams | None = None,
 ) -> ExoskeletonCalibration:
-    """Run interactive calibration for an exoskeleton arm."""
+    """
+    Run interactive calibration for an exoskeleton arm.
+    """
     require_package("pyserial", extra="unitree_g1", import_name="serial")
     try:
         import cv2
@@ -224,11 +173,9 @@ def run_exo_calibration(
     logger.info(f"Starting calibration for {side} exoskeleton arm")
 
     def running_median(win: deque) -> float:
-        """Return the median of a buffered window of raw ADC samples, used to smooth sensor noise."""
         return float(np.median(np.fromiter(win, dtype=float)))
 
     def read_joint_point(raw16: list[int], pair: tuple[int, int]):
-        """Extract one joint's centered (x, y) sin/cos point, plus its raw sin/cos values."""
         s, c = raw16[pair[0]], raw16[pair[1]]
         return float(c) - ADC_HALF, float(s) - ADC_HALF, float(s), float(c)
 
@@ -312,7 +259,6 @@ def run_exo_calibration(
     zero_samples = []
 
     def on_key(event):
-        """Matplotlib key-press handler that requests advancing to the calibration's next phase."""
         nonlocal advance_requested
         if event.key in ("n", "N", "enter", " "):
             advance_requested = True
@@ -320,7 +266,6 @@ def run_exo_calibration(
     fig.canvas.mpl_connect("key_press_event", on_key)
 
     def reset_state():
-        """Build a fresh mutable state dict for tracking one joint's in-progress ellipse fit."""
         return {
             "xs": deque(maxlen=params.history),
             "ys": deque(maxlen=params.history),

src/lerobot/teleoperators/unitree_g1/exo_ik.py

@@ -14,10 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""IK helper for exoskeleton-to-G1 teleoperation.
-
-We map Exoskeleton joint angles to end-effector pose in world frame, visualizing the result in meshcat
-after calibration.
+"""
+IK helper for exoskeleton-to-G1 teleoperation. We map Exoskeleton joint angles to end-effector pose in world frame,
+visualizing the result in meshcat after calibration.
 """
 
 import logging
@@ -44,24 +43,6 @@ def _frame_id(model, name: str) -> int | None:
 
 @dataclass
 class ArmCfg:
-    """Static per-arm configuration linking an exoskeleton URDF to its G1 counterpart.
-
-    Args:
-        side (`str`):
-            Which arm this describes, `"left"` or `"right"`.
-        urdf (`str`):
-            Path to the exoskeleton arm's URDF file.
-        root (`str`):
-            Name of the exoskeleton's root node in the meshcat scene tree.
-        g1_ee (`str`):
-            Name of the corresponding end-effector frame on the G1 URDF model.
-        offset (`np.ndarray`):
-            World-frame translation applied to the exoskeleton and its IK target, so the exoskeleton's
-            visualization does not overlap the G1's.
-        marker_prefix (`str`):
-            Prefix used to namespace this arm's meshcat marker paths.
-    """
-
     side: str  # "left" | "right"
     urdf: str  # exo_left.urdf / exo_right.urdf
     root: str  # "exo_left" / "exo_right"
@@ -71,28 +52,12 @@ class ArmCfg:
 
 
 class Markers:
-    """Creates meshcat visualization primitives, showing end-effector frames of exoskeleton and G1."""
+    """Creates meshcat visualization primitives, showing end-effector frames of exoskeleton and G1"""
 
     def __init__(self, viewer):
-        """Store the meshcat viewer (or scene-tree node) markers will be attached under.
-
-        Args:
-            viewer:
-                The meshcat viewer markers are added to.
-        """
         self.v = viewer
 
     def sphere(self, path: str, r: float, rgba: tuple[float, float, float, float]):
-        """Add a colored sphere marker to the meshcat scene.
-
-        Args:
-            path (`str`):
-                Meshcat scene-tree path for this marker, e.g. `"markers/left_exo_ee"`.
-            r (`float`):
-                Sphere radius, in meters.
-            rgba (`tuple[float, float, float, float]`):
-                Red, green, and blue components (each 0-1) followed by opacity (0-1).
-        """
         import meshcat.geometry as mg
 
         c = (int(rgba[0] * 255) << 16) | (int(rgba[1] * 255) << 8) | int(rgba[2] * 255)
@@ -102,16 +67,6 @@ class Markers:
         )
 
     def axes(self, path: str, axis_len: float = 0.1, axis_w: int = 6):
-        """Add a red/green/blue XYZ axis-triad marker to the meshcat scene.
-
-        Args:
-            path (`str`):
-                Meshcat scene-tree path for this marker.
-            axis_len (`float`, *optional*, defaults to 0.1):
-                Length of each axis line, in meters.
-            axis_w (`int`, *optional*, defaults to 6):
-                Line width, in pixels.
-        """
         import meshcat.geometry as mg
 
         pts = np.array(
@@ -130,37 +85,21 @@ class Markers:
         )
 
     def tf(self, path: str, mat: np.ndarray):
-        """Update the transform of an existing marker.
-
-        Args:
-            path (`str`):
-                Meshcat scene-tree path of the marker to move.
-            mat (`np.ndarray`):
-                New 4x4 homogeneous transform for the marker, in world frame.
-        """
         self.v[path].set_transform(mat)
 
 
 class ExoskeletonIKHelper:
-    """Maps exoskeleton joint angles to G1 arm joint angles via forward and inverse kinematics.
-
-    Loads the G1 robot and both exoskeleton arm URDF models via Pinocchio, computes forward kinematics on
-    the exoskeleton to obtain end-effector poses in the world frame, then solves inverse kinematics on the
-    G1 model to find joint angles reproducing those poses. Also provides an optional meshcat
-    visualization showing both robots alongside their IK targets.
+    """
+    - Loads G1 robot and exoskeleton URDF models via Pinocchio
+    - Computes forward kinematics on exoskeleton to get end-effector poses
+    - Solves inverse kinematics on G1 to match those poses
+    - Provides meshcat visualization showing both robots and targets
 
     Args:
-        frozen_joints (`list[str] | None`, *optional*):
-            G1 joint names to exclude from IK; these are held at their current pose instead of being
-            solved for.
+        frozen_joints: List of G1 joint names to exclude from IK (kept at neutral).
     """
 
     def __init__(self, frozen_joints: list[str] | None = None):
-        """Load the G1 and exoskeleton Pinocchio models and precompute frozen-joint indices.
-
-        Raises:
-            ImportError: If `pinocchio` is not installed.
-        """
         try:
             import pinocchio as pin
         except ImportError as e:
@@ -249,9 +188,9 @@ class ExoskeletonIKHelper:
             logger.info(f"loaded {a.side} exo urdf: {a.urdf}")
 
     def init_visualization(self):
-        """Creates a browser-based visualization of exoskeleton and G1 robot.
-
-        Highlights end-effector frames and target positions.
+        """
+        Creates a browser-based visualization of exoskeleton and G1 robot,
+        highlighting end-effector frames and target positions.
         """
         try:
             from pinocchio.visualize import MeshcatVisualizer
@@ -298,7 +237,7 @@ class ExoskeletonIKHelper:
         print(f"\nmeshcat url: {self.viewer.url()}\n")
 
     def _fk_target_world(self, side: str, angles: dict[str, float]) -> np.ndarray | None:
-        """Returns wrist frame target to be used for G1 IK in 4x4 homogeneous transform. Takes offset into account."""
+        """returns wrist frame target to be used for G1 IK in 4x4 homogeneous transform. Takes offset into account."""
         if side not in self.exo or not angles:
             return None
 
@@ -324,10 +263,6 @@ class ExoskeletonIKHelper:
         return target
 
     def update_visualization(self):
-        """Refresh the meshcat scene with the G1's and both exoskeletons' current poses and IK targets.
-
-        No-op if `init_visualization` has not been called yet.
-        """
         if self.viewer is None or self.markers is None:
             return
 
@@ -376,9 +311,9 @@ class ExoskeletonIKHelper:
         left_angles: dict[str, float],
         right_angles: dict[str, float],
     ) -> dict[str, float]:
-        """Performs FK on exoskeleton to get end-effector poses in world frame.
-
-        Solves IK on G1 to return joint angles matching those poses in G1 motor order.
+        """
+        Performs FK on exoskeleton to get end-effector poses in world frame,
+        after which it solves IK on G1 to return joint angles matching those poses in G1 motor order.
         """
         pin = self.pin
 

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -35,17 +35,6 @@ logger = logging.getLogger(__name__)
 
 
 def parse_raw16(line: bytes) -> list[int] | None:
-    """Parse one line of exoskeleton telemetry into 16 raw ADC channel readings.
-
-    Args:
-        line (`bytes`):
-            One raw line read from the exoskeleton's serial port, expected to contain 16
-            whitespace-separated integers (sin/cos pairs for each sensed joint, plus joystick channels).
-
-    Returns:
-        `list[int] | None`: The 16 raw ADC values in channel order, or `None` if the line is malformed or
-        has fewer than 16 values.
-    """
     try:
         parts = line.decode("utf-8", errors="ignore").split()
         if len(parts) < 16:
@@ -56,18 +45,7 @@ def parse_raw16(line: bytes) -> list[int] | None:
 
 
 def read_raw_from_serial(ser) -> list[int] | None:
-    """Read the latest sample from serial; if the input buffer is backed up, keep only the newest.
-
-    Draining the buffer down to the newest line keeps teleoperation responsive to the exoskeleton's
-    current pose instead of replaying a queue of stale samples.
-
-    Args:
-        ser (`serial.Serial`):
-            Open serial connection to the exoskeleton's sensor board.
-
-    Returns:
-        `list[int] | None`: The most recently parsed sample, or `None` if no valid line was available.
-    """
+    """Read latest sample from serial; if buffer is backed up, keep only the newest."""
     try:
         last = None
         while ser.in_waiting > 0:
@@ -89,27 +67,6 @@ def read_raw_from_serial(ser) -> list[int] | None:
 
 @dataclass
 class ExoskeletonArm:
-    """Serial link and calibration state for one exoskeleton arm (left or right).
-
-    Wraps the raw serial connection to the arm's sensor board and converts its hall-effect sensor readings
-    into calibrated joint angles via `get_angles`, once a calibration has been loaded or produced by
-    `calibrate`.
-
-    Args:
-        port (`str`):
-            Serial port the arm's sensor board is connected to, e.g. `/dev/ttyUSB0`.
-        calibration_fpath (`Path`):
-            Path to the JSON file used to load and save this arm's calibration.
-        side (`str`):
-            Which arm this is, `"left"` or `"right"`. Used to label saved calibration data and log
-            messages.
-        baud_rate (`int`, *optional*, defaults to 115200):
-            Baud rate for the serial connection.
-        calibration (`ExoskeletonCalibration | None`, *optional*):
-            Calibration data for this arm. Loaded automatically from `calibration_fpath` if that file
-            exists; otherwise populated by calling `calibrate`.
-    """
-
     port: str
     calibration_fpath: Path
     side: str
@@ -119,39 +76,19 @@ class ExoskeletonArm:
     calibration: ExoskeletonCalibration | None = None
 
     def __post_init__(self):
-        """Check that `pyserial` is installed and load an existing calibration file, if any."""
         require_package("pyserial", extra="unitree_g1", import_name="serial")
         if self.calibration_fpath.is_file():
             self._load_calibration()
 
     @property
     def is_connected(self) -> bool:
-        """Whether the serial connection to the arm's sensor board is open.
-
-        Returns:
-            `bool`: `True` if the serial port has been opened and not yet closed.
-        """
         return self._ser is not None and getattr(self._ser, "is_open", False)
 
     @property
     def is_calibrated(self) -> bool:
-        """Whether calibration data is available for this arm.
-
-        Returns:
-            `bool`: `True` if a calibration has been loaded from disk or produced by `calibrate`.
-        """
         return self.calibration is not None
 
     def connect(self, calibrate: bool = True) -> None:
-        """Open the serial connection to the arm's sensor board.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to run `calibrate` automatically after connecting if no calibration is loaded yet.
-
-        Raises:
-            ConnectionError: If the serial port cannot be opened.
-        """
         if self.is_connected:
             return
         try:
@@ -165,7 +102,6 @@ class ExoskeletonArm:
             self.calibrate()
 
     def disconnect(self) -> None:
-        """Close the serial connection to the arm's sensor board, if open."""
         if self._ser:
             try:
                 self._ser.close()
@@ -181,41 +117,17 @@ class ExoskeletonArm:
             logger.warning(f"failed to load calibration: {e}")
 
     def read_raw(self) -> list[int] | None:
-        """Read the arm's latest raw ADC sample.
-
-        Returns:
-            `list[int] | None`: The 16 raw ADC channel values, or `None` if the arm is not connected or no
-            valid sample was available.
-        """
         if not self._ser:
             return None
         return read_raw_from_serial(self._ser)
 
     def get_angles(self) -> dict[str, float]:
-        """Read the arm's current sensor sample and convert it to calibrated joint angles.
-
-        Returns:
-            `dict[str, float]`: Joint name to angle in radians, or an empty dict if no sample was
-            available on the serial link.
-
-        Raises:
-            RuntimeError: If the arm has not been calibrated yet.
-        """
         if not self.calibration:
             raise RuntimeError("exoskeleton not calibrated")
         raw = self.read_raw()
         return {} if raw is None else exo_raw_to_angles(raw, self.calibration)
 
     def calibrate(self) -> None:
-        """Run the interactive per-joint calibration procedure and store its result.
-
-        Delegates to `run_exo_calibration`, which walks the operator through moving each joint through
-        its range and holding a zero pose, then saves the resulting ellipse fits and zero offsets to
-        `calibration_fpath`.
-
-        Raises:
-            RuntimeError: If the arm is not connected.
-        """
         if not self.is_connected:
             raise RuntimeError("Cannot calibrate: exoskeleton not connected")
         self.calibration = run_exo_calibration(self._ser, self.side, self.calibration_fpath)

src/lerobot/teleoperators/unitree_g1/unitree_g1.py

@@ -28,18 +28,7 @@ if TYPE_CHECKING or _unitree_sdk_available:
 else:
 
     class Joystick:
-        """Placeholder used when `unitree_sdk2py` is not installed.
-
-        Raises `ImportError` on instantiation instead of on import, so the module can still be imported
-        (and its non-hardware members inspected) without the SDK present.
-        """
-
         def __init__(self):
-            """Raise `ImportError` because `unitree_sdk2py` is required and not installed.
-
-            Raises:
-                ImportError: Always.
-            """
             raise ImportError(
                 "unitree_sdk2py is required for RemoteController. Install with: pip install unitree_sdk2py"
             )
@@ -85,7 +74,6 @@ class RemoteController:
     ]
 
     def __init__(self):
-        """Initialize joystick axes, button state, and joystick-center calibration to their defaults."""
         self.lx = 0.0
         self.ly = 0.0
         self.rx = 0.0
@@ -114,19 +102,6 @@ class RemoteController:
         self.remote_action.update(zip(REMOTE_AXES, (self.lx, self.ly, self.rx, self.ry), strict=True))
 
     def calibrate_center(self, raw16: list[int] | None, side: str) -> None:
-        """Detect and record the center position of one side's exoskeleton-mounted joystick.
-
-        Meant to be called once at connect time. If the joystick's button ADC channel reads above
-        half-scale, an exoskeleton joystick is assumed present on that side, and its current X/Y ADC
-        reading is stored as the neutral center used by `set_from_exo`.
-
-        Args:
-            raw16 (`list[int] | None`):
-                The 16 raw ADC channel values read from the exoskeleton's sensor board, or `None` if no
-                sample was available.
-            side (`str`):
-                Which joystick to calibrate, `"left"` or `"right"`.
-        """
         if raw16 is None or len(raw16) < 16:
             logger.info(f"{side.capitalize()} exo joystick: no data available")
             return
@@ -148,17 +123,6 @@ class RemoteController:
         logger.info(f"{side.capitalize()} exo joystick enabled, center: x={x}, y={y}")
 
     def set_from_exo(self, raw16: list[int] | None, side: str) -> None:
-        """Update one side's joystick axes and button from the exoskeleton-mounted joystick, if calibrated.
-
-        No-op if `calibrate_center` did not detect an exoskeleton joystick on that side.
-
-        Args:
-            raw16 (`list[int] | None`):
-                The 16 raw ADC channel values read from the exoskeleton's sensor board, or `None` if no
-                sample was available.
-            side (`str`):
-                Which joystick to update, `"left"` or `"right"`.
-        """
         if raw16 is None or len(raw16) < 16:
             return
 
@@ -193,39 +157,17 @@ class RemoteController:
 
 
 class UnitreeG1Teleoperator(Teleoperator):
-    """Bimanual exoskeleton-arm teleoperator for the Unitree G1 humanoid, plus its wireless remote.
+    """
+    Bimanual exoskeleton arms teleoperator for Unitree G1 arms.
 
-    Two exoskeleton arms worn by the operator report joint angles, which are converted to a G1 arm action
-    via forward kinematics on the exoskeleton followed by inverse kinematics on the G1 (see
-    [`~teleoperators.unitree_g1.exo_ik.ExoskeletonIKHelper`]). A Unitree wireless remote (or an
-    exoskeleton-mounted joystick, when the remote is idle) supplies additional axes, typically used for
-    locomotion. If neither exoskeleton arm has a configured serial port, the teleoperator falls back to
-    remote-controller-only mode and reports no arm joint actions.
-
-    Example:
-        ```python
-        >>> from lerobot.teleoperators.unitree_g1 import UnitreeG1Teleoperator, UnitreeG1TeleoperatorConfig
-        >>> teleop = UnitreeG1Teleoperator(UnitreeG1TeleoperatorConfig())  # doctest: +SKIP
-        >>> with teleop:  # doctest: +SKIP
-        ...     action = teleop.get_action()
-        ```
+    Uses inverse kinematics: exoskeleton FK computes end-effector pose,
+    G1 IK solves for joint angles.
     """
 
     config_class = UnitreeG1TeleoperatorConfig
     name = "unitree_g1"
 
     def __init__(self, config: UnitreeG1TeleoperatorConfig):
-        """Build the teleoperator from its configuration.
-
-        Args:
-            config (`UnitreeG1TeleoperatorConfig`):
-                The teleoperator's configuration. Exoskeleton arm control is enabled only if both
-                `left_arm_config.port` and `right_arm_config.port` are set; leaving both empty runs in
-                remote-controller-only mode.
-
-        Raises:
-            ValueError: If exactly one of the two arm ports is configured.
-        """
         super().__init__(config)
         self.config = config
         left_exo_enabled = bool(config.left_arm_config.port.strip())
@@ -266,15 +208,6 @@ class UnitreeG1Teleoperator(Teleoperator):
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        """Keys the teleoperator's actions are reported under.
-
-        Includes one `"<joint>.q"` key per G1 arm joint (radians) when both exoskeleton arms are
-        configured, plus the remote controller's stick and button axes. See
-        [`~teleoperators.Teleoperator.action_features`].
-
-        Returns:
-            `dict[str, type]`: Action names mapped to `float`.
-        """
         remote_features = dict.fromkeys(self.remote_controller.remote_action, float)
         if not self._arm_control_enabled:
             return remote_features
@@ -283,48 +216,21 @@ class UnitreeG1Teleoperator(Teleoperator):
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        """Same as [`~teleoperators.Teleoperator.feedback_features`].
-
-        Returns:
-            `dict[str, type]`: A single `"wireless_remote"` key mapped to `bytes`, the raw Unitree
-            wireless remote packet to be parsed into joystick and button state.
-        """
         return {"wireless_remote": bytes}
 
     @property
     def is_connected(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_connected`].
-
-        Returns:
-            `bool`: `True` if exoskeleton arm control is disabled (remote-only mode), or if both
-            exoskeleton arms are connected.
-        """
         if not self._arm_control_enabled:
             return True
         return self.left_arm.is_connected and self.right_arm.is_connected
 
     @property
     def is_calibrated(self) -> bool:
-        """Same as [`~teleoperators.Teleoperator.is_calibrated`].
-
-        Returns:
-            `bool`: `True` if exoskeleton arm control is disabled (remote-only mode), or if both
-            exoskeleton arms are calibrated.
-        """
         if not self._arm_control_enabled:
             return True
         return self.left_arm.is_calibrated and self.right_arm.is_calibrated
 
     def connect(self, calibrate: bool = True) -> None:
-        """Connect both exoskeleton arms, build the IK helper, and calibrate the remote's joystick centers.
-
-        If neither exoskeleton arm has a configured serial port, this is a no-op and the teleoperator
-        falls back to reporting only remote-controller actions.
-
-        Args:
-            calibrate (`bool`, *optional*, defaults to `True`):
-                Whether to calibrate each exoskeleton arm that is not yet calibrated.
-        """
         if not self._arm_control_enabled:
             logger.warning("Exo ports not fully configured; teleop will send joystick only (no arm actions)")
             return
@@ -344,12 +250,6 @@ class UnitreeG1Teleoperator(Teleoperator):
         self.remote_controller.calibrate_center(right_raw, "right")
 
     def calibrate(self) -> None:
-        """Calibrate each exoskeleton arm that is not already calibrated, then verify tracking visually.
-
-        See [`~teleoperators.Teleoperator.calibrate`]. After both arms are calibrated, this opens the
-        interactive meshcat visualization (see `run_visualization_loop`) so the operator can confirm the
-        G1 arms track the exoskeleton before recording data.
-        """
         if not self.left_arm.is_calibrated:
             logger.info("Starting calibration for left arm...")
             self.left_arm.calibrate()
@@ -366,27 +266,9 @@ class UnitreeG1Teleoperator(Teleoperator):
         self.run_visualization_loop()
 
     def configure(self) -> None:
-        """No-op: the exoskeleton arms require no runtime configuration beyond calibration.
-
-        See [`~teleoperators.Teleoperator.configure`].
-        """
         pass
 
     def get_action(self) -> dict[str, float]:
-        """Read both exoskeleton arms and the remote controller, and combine them into one action.
-
-        Exoskeleton joint angles are converted to G1 arm joint angles by forward kinematics on the
-        exoskeleton followed by inverse kinematics on the G1, via
-        [`~teleoperators.unitree_g1.exo_ik.ExoskeletonIKHelper.compute_g1_joints_from_exo`]. The wireless
-        remote takes priority over the exoskeleton-mounted joystick for stick/button axes whenever it
-        reports a non-zero stick or a pressed button; otherwise the exoskeleton-mounted joystick (if
-        calibrated) is used instead.
-
-        Returns:
-            `dict[str, float]`: G1 arm joint angles (`"<joint>.q"`, radians) when exoskeleton control is
-            enabled, merged with the remote controller's stick and button axes. Matches
-            [`~teleoperators.Teleoperator.action_features`].
-        """
         joint_action = {}
         left_raw = None
         right_raw = None
@@ -411,19 +293,11 @@ class UnitreeG1Teleoperator(Teleoperator):
         return {**joint_action, **rc.remote_action}
 
     def send_feedback(self, feedback: dict[str, Any]) -> None:
-        """Update the remote controller's parsed state from a raw wireless remote packet.
-
-        Args:
-            feedback (`dict[str, Any]`):
-                Feedback dict; only the `"wireless_remote"` key (raw bytes) is used, matching
-                [`~teleoperators.Teleoperator.feedback_features`]. Ignored if the key is absent.
-        """
         wireless_remote = feedback.get("wireless_remote")
         if wireless_remote is not None:
             self.remote_controller.set_from_wireless(wireless_remote)
 
     def disconnect(self) -> None:
-        """Disconnect both exoskeleton arms. See [`~teleoperators.Teleoperator.disconnect`]."""
         self.left_arm.disconnect()
         self.right_arm.disconnect()
 

src/lerobot/teleoperators/utils.py

@@ -34,19 +34,6 @@ class TeleopEvents(Enum):
 
 
 def make_teleoperator_from_config(config: TeleoperatorConfig) -> "Teleoperator":
-    """Instantiate the [`~teleoperators.Teleoperator`] matching a config's registered [`~teleoperators.TeleoperatorConfig.type`].
-
-    Args:
-        config (`TeleoperatorConfig`):
-            Configuration of the teleoperator to build.
-
-    Returns:
-        `Teleoperator`: The instantiated teleoperator, not yet connected.
-
-    Raises:
-        ValueError: If the config's type is not a known teleoperator and building it via the generic
-            device factory also fails.
-    """
     # TODO(Steven): Consider just using the make_device_from_device_class for all types
     if config.type == "keyboard":
         from .keyboard import KeyboardTeleop

src/lerobot/transforms/transforms.py

@@ -32,13 +32,16 @@ class RandomSubsetApply(Transform):
     """Apply a random subset of N transformations from a list of transformations.
 
     Args:
-        transforms: list of transformations.
-        p: represents the multinomial probabilities (with no replacement) used for sampling the transform.
-            If the sum of the weights is not 1, they will be normalized. If ``None`` (default), all transforms
-            have the same probability.
-        n_subset: number of transformations to apply. If ``None``, all transforms are applied.
-            Must be in [1, len(transforms)].
-        random_order: apply transformations in a random order.
+        transforms (`Sequence`):
+            List of transformations.
+        p (`list[float] | None`, *optional*):
+            Multinomial probabilities (with no replacement) used for sampling the transform. Normalized if
+            they don't already sum to 1. `None` gives all transforms the same probability.
+        n_subset (`int | None`, *optional*):
+            Number of transformations to apply. Must be in `[1, len(transforms)]`. `None` applies all of
+            them.
+        random_order (`bool`, *optional*, defaults to `False`):
+            Whether to apply the sampled transformations in a random order.
     """
 
     def __init__(
@@ -48,6 +51,12 @@ class RandomSubsetApply(Transform):
         n_subset: int | None = None,
         random_order: bool = False,
     ) -> None:
+        """Validate and store the transform pool, sampling weights, and subset size.
+
+        Raises:
+            TypeError: If `transforms` is not a sequence, or `n_subset` is not an int or `None`.
+            ValueError: If `p`'s length doesn't match `transforms`, or `n_subset` is out of range.
+        """
         super().__init__()
         if not isinstance(transforms, Sequence):
             raise TypeError("Argument transforms should be a sequence of callables")
@@ -74,6 +83,7 @@ class RandomSubsetApply(Transform):
         self.selected_transforms: list[Callable[..., Any]] = []
 
     def forward(self, *inputs: Any) -> Any:
+        """Sample a subset of `self.transforms` and apply them in sequence to `inputs`."""
         needs_unpacking = len(inputs) > 1
 
         selected_indices = torch.multinomial(torch.tensor(self.p), self.n_subset)
@@ -89,6 +99,7 @@ class RandomSubsetApply(Transform):
         return outputs
 
     def extra_repr(self) -> str:
+        """Return the constructor arguments shown in `repr(self)`."""
         return (
             f"transforms={self.transforms}, "
             f"p={self.p}, "
@@ -108,16 +119,18 @@ class SharpnessJitter(Transform):
     A sharpness_factor of 0 gives a blurred image, 1 gives the original image while 2 increases the sharpness
     by a factor of 2.
 
-    If the input is a :class:`torch.Tensor`,
-    it is expected to have [..., 1 or 3, H, W] shape, where ... means an arbitrary number of leading dimensions.
+    If the input is a `torch.Tensor`, it is expected to have `[..., 1 or 3, H, W]` shape, where `...` means
+    an arbitrary number of leading dimensions.
 
     Args:
-        sharpness: How much to jitter sharpness. sharpness_factor is chosen uniformly from
-            [max(0, 1 - sharpness), 1 + sharpness] or the given
-            [min, max]. Should be non negative numbers.
+        sharpness (`float | collections.abc.Sequence[float]`):
+            How much to jitter sharpness. `sharpness_factor` is chosen uniformly from
+            `[max(0, 1 - sharpness), 1 + sharpness]`, or the given `[min, max]`. Values must be
+            non-negative.
     """
 
     def __init__(self, sharpness: float | Sequence[float]) -> None:
+        """Normalize `sharpness` into a `(min, max)` range to sample from on each call."""
         super().__init__()
         self.sharpness = self._check_input(sharpness)
 
@@ -138,10 +151,12 @@ class SharpnessJitter(Transform):
         return float(sharpness[0]), float(sharpness[1])
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a `sharpness_factor` uniformly from `self.sharpness`."""
         sharpness_factor = torch.empty(1).uniform_(self.sharpness[0], self.sharpness[1]).item()
         return {"sharpness_factor": sharpness_factor}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Adjust `inpt`'s sharpness by `params["sharpness_factor"]`."""
         sharpness_factor = params["sharpness_factor"]
         return self._call_kernel(F.adjust_sharpness, inpt, sharpness_factor=sharpness_factor)
 
@@ -153,10 +168,17 @@ class GaussianNoise(Transform):
     Common in real-robot setups where wrist cameras operate in suboptimal lighting.
 
     Args:
-        std: Range (min, max) for noise standard deviation in pixel-value scale (0-255).
+        std (`float | collections.abc.Sequence[float]`, *optional*, defaults to `(5.0, 25.0)`):
+            Range `(min, max)` for the noise standard deviation, in pixel-value scale (0-255).
     """
 
     def __init__(self, std: float | Sequence[float] = (5.0, 25.0)) -> None:
+        """Normalize `std` into a `(min, max)` range to sample from on each call.
+
+        Raises:
+            TypeError: If `std` is not a number or a length-2 sequence.
+            ValueError: If the resulting range does not satisfy `0 <= min <= max`.
+        """
         super().__init__()
         if isinstance(std, (int, float)):
             self.std = (0.0, float(std))
@@ -168,12 +190,14 @@ class GaussianNoise(Transform):
             raise ValueError(f"std must satisfy 0 <= min <= max, but got {self.std}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a noise `std` uniformly from `self.std`, plus a seed for reproducible noise."""
         return {
             "std": torch.empty(1).uniform_(self.std[0], self.std[1]).item(),
             "seed": torch.randint(0, torch.iinfo(torch.int64).max, ()).item(),
         }
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Add Gaussian noise with `params["std"]` (in pixel-value scale) to `inpt`, if it's a float tensor."""
         if isinstance(inpt, torch.Tensor) and inpt.is_floating_point():
             generator = torch.Generator(device=inpt.device).manual_seed(params["seed"])
             noise = torch.randn(inpt.shape, device=inpt.device, dtype=inpt.dtype, generator=generator)
@@ -187,10 +211,17 @@ class MotionBlur(Transform):
     Generates a 1D averaging kernel along a random direction, applied via depthwise convolution.
 
     Args:
-        kernel_size: An odd kernel size or a range containing at least one odd kernel size.
+        kernel_size (`int | collections.abc.Sequence[int]`, *optional*, defaults to `(3, 11)`):
+            An odd kernel size, or a `(min, max)` range containing at least one odd kernel size.
     """
 
     def __init__(self, kernel_size: int | Sequence[int] = (3, 11)) -> None:
+        """Normalize `kernel_size` into a `(min, max)` range containing at least one odd value.
+
+        Raises:
+            TypeError: If `kernel_size` is not an int or a length-2 sequence.
+            ValueError: If the resulting range does not satisfy `1 <= min <= max`, or contains no odd value.
+        """
         super().__init__()
         if isinstance(kernel_size, int):
             self.kernel_size = (kernel_size, kernel_size)
@@ -205,6 +236,7 @@ class MotionBlur(Transform):
             raise ValueError(f"kernel_size range must contain an odd value, but got {self.kernel_size}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample an odd kernel size from `self.kernel_size` and a random blur direction in degrees."""
         num_odd_sizes = (self.kernel_size[1] - self._first_odd_kernel_size) // 2 + 1
         size_index = int(torch.randint(0, num_odd_sizes, ()).item())
         ks = self._first_odd_kernel_size + 2 * size_index
@@ -212,6 +244,11 @@ class MotionBlur(Transform):
         return {"kernel_size": ks, "angle": angle}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Convolve `inpt` with a directional averaging kernel per `params`.
+
+        Raises:
+            ValueError: If `inpt` is a float tensor with fewer than 3 dimensions.
+        """
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         if inpt.ndim < 3:
@@ -241,10 +278,17 @@ class JPEGCompression(Transform):
     Models quality degradation from video compression in network-streamed camera feeds.
 
     Args:
-        quality: Range (min, max) for JPEG quality factor (lower = more artifacts).
+        quality (`int | collections.abc.Sequence[int]`, *optional*, defaults to `(15, 75)`):
+            Range `(min, max)` for the JPEG quality factor. Lower values produce more artifacts.
     """
 
     def __init__(self, quality: int | Sequence[int] = (15, 75)) -> None:
+        """Normalize `quality` into a `(min, max)` range to sample from on each call.
+
+        Raises:
+            TypeError: If `quality` is not an int or a length-2 sequence.
+            ValueError: If the resulting range does not satisfy `1 <= min <= max <= 100`.
+        """
         super().__init__()
         if isinstance(quality, int):
             self.quality = (quality, quality)
@@ -256,9 +300,16 @@ class JPEGCompression(Transform):
             raise ValueError(f"quality must satisfy 1 <= min <= max <= 100, but got {self.quality}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a JPEG `quality` factor uniformly (as an int) from `self.quality`."""
         return {"quality": int(torch.randint(self.quality[0], self.quality[1] + 1, (1,)).item())}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Re-encode and decode `inpt` as JPEG at `params["quality"]`, introducing compression artifacts.
+
+        Raises:
+            ValueError: If `inpt` is a float tensor with fewer than 3 dimensions, or with a channel count
+                other than 1 or 3.
+        """
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         if inpt.ndim < 3:
@@ -284,9 +335,12 @@ class GaussianPatchBrightness(Transform):
     encountered in real robot workspaces with multiple light sources.
 
     Args:
-        num_patches: Range (min, max) for number of brightness patches.
-        sigma_range: Range for Gaussian sigma as fraction of image size.
-        factor_range: Range for brightness factor (< 1 darkens, > 1 brightens).
+        num_patches (`int | collections.abc.Sequence[int]`, *optional*, defaults to `(1, 4)`):
+            Range `(min, max)` for the number of brightness patches.
+        sigma_range (`Sequence`, *optional*, defaults to `(0.05, 0.25)`):
+            Range `(min, max)` for each patch's Gaussian sigma, as a fraction of image size.
+        factor_range (`Sequence`, *optional*, defaults to `(0.4, 1.6)`):
+            Range `(min, max)` for the brightness factor; below 1 darkens, above 1 brightens.
     """
 
     def __init__(
@@ -295,6 +349,12 @@ class GaussianPatchBrightness(Transform):
         sigma_range: Sequence[float] = (0.05, 0.25),
         factor_range: Sequence[float] = (0.4, 1.6),
     ) -> None:
+        """Validate and store the patch count, size, and brightness ranges.
+
+        Raises:
+            TypeError: If any range argument is not the expected type or length.
+            ValueError: If any range does not satisfy `min <= max` within its valid bounds.
+        """
         super().__init__()
         if isinstance(num_patches, int):
             self.num_patches = (num_patches, num_patches)
@@ -316,6 +376,7 @@ class GaussianPatchBrightness(Transform):
             raise ValueError(f"factor_range must satisfy 0 <= min <= max, but got {self.factor_range}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a random number of patches, each with a random center, sigma, and brightness factor."""
         n = int(torch.randint(self.num_patches[0], self.num_patches[1] + 1, (1,)).item())
         return {
             "centers": torch.rand(n, 2).tolist(),
@@ -324,6 +385,7 @@ class GaussianPatchBrightness(Transform):
         }
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Multiply `inpt` by a mask of overlapping Gaussian brightness patches per `params`."""
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         h, w = inpt.shape[-2:]
@@ -347,10 +409,17 @@ class RandomShadow(Transform):
     Symmetric: randomly brightens or darkens to prevent BatchNorm stats shift.
 
     Args:
-        opacity: Range (min, max) for shadow/highlight opacity.
+        opacity (`float | collections.abc.Sequence[float]`, *optional*, defaults to `(0.3, 0.6)`):
+            Range `(min, max)` for the shadow/highlight opacity.
     """
 
     def __init__(self, opacity: float | Sequence[float] = (0.3, 0.6)) -> None:
+        """Normalize `opacity` into a `(min, max)` range to sample from on each call.
+
+        Raises:
+            TypeError: If `opacity` is not a number or a length-2 sequence.
+            ValueError: If the resulting range does not satisfy `0 <= min <= max <= 1`.
+        """
         super().__init__()
         if isinstance(opacity, (int, float)):
             self.opacity = (float(opacity), float(opacity))
@@ -362,6 +431,7 @@ class RandomShadow(Transform):
             raise ValueError(f"opacity must satisfy 0 <= min <= max <= 1, but got {self.opacity}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample the shadow band's opacity, horizontal position/width, and darken-vs-brighten direction."""
         return {
             "opacity": torch.empty(1).uniform_(self.opacity[0], self.opacity[1]).item(),
             "start": torch.rand(1).item(),
@@ -370,6 +440,11 @@ class RandomShadow(Transform):
         }
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Multiply `inpt` by a soft-edged vertical band mask per `params`.
+
+        Raises:
+            ValueError: If `inpt` is a float tensor with fewer than 3 dimensions.
+        """
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         if inpt.ndim < 3:
@@ -401,10 +476,14 @@ class CoarseDropout(Transform):
     during robot manipulation.
 
     Args:
-        max_holes: Maximum number of rectangular patches to drop.
-        max_height_frac: Maximum patch height as fraction of image height.
-        max_width_frac: Maximum patch width as fraction of image width.
-        fill_value: Value to fill dropped regions with.
+        max_holes (`int`, *optional*, defaults to 8):
+            Maximum number of rectangular patches to drop.
+        max_height_frac (`float`, *optional*, defaults to 0.07):
+            Maximum patch height, as a fraction of image height.
+        max_width_frac (`float`, *optional*, defaults to 0.07):
+            Maximum patch width, as a fraction of image width.
+        fill_value (`float`, *optional*, defaults to 0.0):
+            Value to fill dropped regions with.
     """
 
     def __init__(
@@ -414,6 +493,12 @@ class CoarseDropout(Transform):
         max_width_frac: float = 0.07,
         fill_value: float = 0.0,
     ) -> None:
+        """Validate and store the dropout patch count, size limits, and fill value.
+
+        Raises:
+            TypeError: If `max_holes` is not an int.
+            ValueError: If any argument is out of its valid range.
+        """
         super().__init__()
         if not isinstance(max_holes, int):
             raise TypeError("max_holes must be an int.")
@@ -431,6 +516,7 @@ class CoarseDropout(Transform):
         self.fill_value = fill_value
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a random number of dropout patches, each with a random size and position."""
         n = int(torch.randint(1, self.max_holes + 1, (1,)).item())
         sizes = torch.rand(n, 2)
         sizes[:, 0] *= self.max_height_frac
@@ -438,6 +524,11 @@ class CoarseDropout(Transform):
         return {"sizes": sizes.tolist(), "positions": torch.rand(n, 2).tolist()}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Fill the rectangular patches described by `params` in `inpt` with `self.fill_value`.
+
+        Raises:
+            ValueError: If `inpt` is a float tensor with fewer than 3 dimensions.
+        """
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         if inpt.ndim < 3:
@@ -464,10 +555,18 @@ class GammaCorrection(Transform):
     preventing BatchNorm statistics shift.
 
     Args:
-        gamma: Range (min, max) for gamma value. Values < 1 brighten, > 1 darken.
+        gamma (`float | collections.abc.Sequence[float]`, *optional*, defaults to `(0.5, 2.0)`):
+            Range `(min, max)` for the gamma value. Values below 1 brighten, above 1 darken.
     """
 
     def __init__(self, gamma: float | Sequence[float] = (0.5, 2.0)) -> None:
+        """Normalize `gamma` into a log-symmetric `(min, max)` range to sample from on each call.
+
+        Raises:
+            TypeError: If `gamma` is not a number or a length-2 sequence.
+            ValueError: If a single `gamma` is not positive, or the resulting range does not satisfy
+                `0 < min <= max`.
+        """
         super().__init__()
         if isinstance(gamma, (int, float)):
             gamma = float(gamma)
@@ -482,12 +581,14 @@ class GammaCorrection(Transform):
             raise ValueError(f"gamma must satisfy 0 < min <= max, but got {self.gamma}.")
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a `gamma` value log-uniformly from `self.gamma`."""
         log_lo = math.log(self.gamma[0])
         log_hi = math.log(self.gamma[1])
         gamma = math.exp(torch.empty(1).uniform_(log_lo, log_hi).item())
         return {"gamma": gamma}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Raise `inpt` to the power `params["gamma"]`, if it's a float tensor."""
         if isinstance(inpt, torch.Tensor) and inpt.is_floating_point():
             return inpt.pow(params["gamma"]).clamp(0.0, 1.0)
         return inpt
@@ -537,11 +638,18 @@ class PlanckianJitter(Transform):
     Reference: Zini et al., "Planckian Jitter", CVPR 2022 Workshop.
 
     Args:
-        temperature: A fixed color temperature or range in Kelvin. Supported values
-            are between 3000 K and 15000 K.
+        temperature (`int | collections.abc.Sequence[int]`, *optional*, defaults to `(3000, 15000)`):
+            A fixed color temperature, or a `(min, max)` range, in Kelvin. Supported values are between
+            3000 K and 15000 K.
     """
 
     def __init__(self, temperature: int | Sequence[int] = (3_000, 15_000)) -> None:
+        """Normalize `temperature` into a `(min, max)` range to sample from on each call.
+
+        Raises:
+            TypeError: If `temperature` is not an int or a length-2 sequence.
+            ValueError: If the resulting range falls outside `[3000, 15000]` Kelvin.
+        """
         super().__init__()
         if isinstance(temperature, int):
             self.temperature = (temperature, temperature)
@@ -562,10 +670,16 @@ class PlanckianJitter(Transform):
             )
 
     def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
+        """Sample a color `temperature` in Kelvin uniformly from `self.temperature`."""
         temperature = int(torch.randint(self.temperature[0], self.temperature[1] + 1, ()).item())
         return {"temperature": temperature}
 
     def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
+        """Scale `inpt`'s red/blue channels per the black-body coefficients at `params["temperature"]`.
+
+        Raises:
+            ValueError: If `inpt` is a float tensor that isn't 3-channel with at least 3 dimensions.
+        """
         if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
             return inpt
         if inpt.ndim < 3 or inpt.shape[-3] != 3:
@@ -613,15 +727,18 @@ _CUSTOM_TRANSFORMS: dict[str, type[Transform]] = {
 
 @dataclass
 class ImageTransformConfig:
-    """
-    For each transform, the following parameters are available:
-      weight: This represents the multinomial probability (with no replacement)
-            used for sampling the transform. If the sum of the weights is not 1,
-            they will be normalized.
-      type: The name of the class used. This is either a class available under torchvision.transforms.v2 or a
-            custom transform defined here.
-      kwargs: Lower & upper bound respectively used for sampling the transform's parameter
-            (following uniform distribution) when it's applied.
+    """Configuration for one entry in an [`~transforms.ImageTransformsConfig`]'s `tfs` mapping.
+
+    Args:
+        weight (`float`, *optional*, defaults to 1.0):
+            Multinomial probability (with no replacement) of sampling this transform. Normalized against
+            the other transforms' weights if they don't already sum to 1.
+        type (`str`, *optional*, defaults to `"Identity"`):
+            Name of the transform class to build — either a class under `torchvision.transforms.v2` or one
+            of the custom transforms in this module. Passed to
+            [`~transforms.make_transform_from_config`].
+        kwargs (`dict[str, Any]`, *optional*):
+            Keyword arguments passed to the transform's constructor.
     """
 
     weight: float = 1.0
@@ -631,11 +748,21 @@ class ImageTransformConfig:
 
 @dataclass
 class ImageTransformsConfig:
-    """
-    These transforms are all using standard torchvision.transforms.v2
-    You can find out how these transformations affect images here:
-    https://pytorch.org/vision/0.18/auto_examples/transforms/plot_transforms_illustrations.html
-    We use a custom RandomSubsetApply container to sample them.
+    """Configuration for [`~transforms.ImageTransforms`], a random subset of image augmentations.
+
+    Transforms are standard [`torchvision.transforms.v2`](https://pytorch.org/vision/0.18/auto_examples/transforms/plot_transforms_illustrations.html)
+    or custom transforms from this module, sampled via [`~transforms.RandomSubsetApply`].
+
+    Args:
+        enable (`bool`, *optional*, defaults to `False`):
+            Whether to apply transforms at all. `False` disables augmentation entirely.
+        max_num_transforms (`int`, *optional*, defaults to 3):
+            Maximum number of transforms (sampled from `tfs`) applied to each frame. Must be in
+            `[1, len(tfs)]`.
+        random_order (`bool`, *optional*, defaults to `False`):
+            Whether to apply the sampled transforms in a random order, instead of the order in `tfs`.
+        tfs (`dict[str, ImageTransformConfig]`, *optional*):
+            The available transforms, keyed by name, with their sampling weight and constructor arguments.
     """
 
     # Set this flag to `true` to enable transforms during training
@@ -683,6 +810,19 @@ class ImageTransformsConfig:
 
 
 def make_transform_from_config(cfg: ImageTransformConfig) -> Transform:
+    """Instantiate the transform named by `cfg.type`, from `torchvision.transforms.v2` or this module.
+
+    Args:
+        cfg (`ImageTransformConfig`):
+            Configuration naming the transform class and its constructor arguments.
+
+    Returns:
+        `Transform`: The instantiated transform.
+
+    Raises:
+        ValueError: If `cfg.type` is not a `torchvision.transforms.v2` transform or one of this module's
+            custom transforms.
+    """
     if cfg.type in _CUSTOM_TRANSFORMS:
         return _CUSTOM_TRANSFORMS[cfg.type](**cfg.kwargs)
 
@@ -698,9 +838,20 @@ def make_transform_from_config(cfg: ImageTransformConfig) -> Transform:
 
 
 class ImageTransforms(Transform):
-    """A class to compose image transforms based on configuration."""
+    """Composes a random subset of image augmentations from an [`~transforms.ImageTransformsConfig`].
+
+    Builds each enabled transform (weight > 0) named in `cfg.tfs`, then wraps them in a
+    [`~transforms.RandomSubsetApply`] so a random subset is applied on each call. If `cfg.enable` is
+    `False` or no transforms are enabled, this is equivalent to the identity transform.
+    """
 
     def __init__(self, cfg: ImageTransformsConfig) -> None:
+        """Build the enabled transforms from `cfg` and wrap them in a random-subset sampler.
+
+        Args:
+            cfg (`ImageTransformsConfig`):
+                Configuration listing the available transforms and how many to sample per call.
+        """
         super().__init__()
         self._cfg = cfg
 
@@ -725,4 +876,5 @@ class ImageTransforms(Transform):
             )
 
     def forward(self, *inputs: Any) -> Any:
+        """Apply the sampled subset of transforms (or the identity, if none are enabled) to `inputs`."""
         return self.tf(*inputs)

utils/check_docstrings.py

@@ -60,7 +60,7 @@ PATH_TO_LEROBOT = PATH_TO_REPO / "src" / "lerobot"
 # Modules whose public objects are checked. Add a module here once its docstrings follow the standard.
 MODULES_TO_CHECK = [
     "lerobot.robots",
-    "lerobot.teleoperators",
+    "lerobot.transforms",
 ]
 
 # Objects that do not yet follow the standard, so the check can be green from day one. Removing an entry

utils/documentation_tests.txt

@@ -15,6 +15,4 @@ src/lerobot/robots/robot.py
 src/lerobot/robots/so_follower/config_so_follower.py
 src/lerobot/robots/so_follower/so_follower.py
 src/lerobot/robots/utils.py
-src/lerobot/teleoperators/phone/config_phone.py
 src/lerobot/teleoperators/teleoperator.py
-src/lerobot/teleoperators/unitree_g1/unitree_g1.py