mirror of
https://github.com/huggingface/lerobot.git
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CarolinePascal
35d40f353f
Completes Wave 1. Takes src/lerobot/teleoperators/ (excluding teleoperator.py, off-limits) to 100% public docstring coverage across all 16 hardware families. Fixes a real check_docstrings.py-breaking bug in ExoskeletonIKHelper's docstring format. Several other real bugs (missing @property, undefined attribute reference, wrong parameter name in an existing docstring) were found and documented accurately but left unfixed per the docstrings-only scope, detailed in the PR description. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
259 lines
6.5 KiB
Plaintext
259 lines
6.5 KiB
Plaintext
# Teleoperators
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A teleoperator produces actions for a robot to follow — a leader arm, a gamepad, a keyboard, a phone. All of
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them implement the [`Teleoperator`] interface, so a recording script written against it works with any input
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device.
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See [Phone teleoperation](../phone_teleop) and [Isaac Teleop](../isaac_teleop) for setup guides, and
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[Imitation Learning for Robots](../il_robots) for the recording workflow.
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## Teleoperator
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[[autodoc]] lerobot.teleoperators.Teleoperator
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- connect
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- disconnect
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- configure
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- calibrate
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- get_action
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- send_feedback
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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## TeleoperatorConfig
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[[autodoc]] lerobot.teleoperators.TeleoperatorConfig
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## make_teleoperator_from_config
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[[autodoc]] lerobot.teleoperators.make_teleoperator_from_config
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## SO-100 and SO-101 leaders
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`SO100Leader` and `SO101Leader` are aliases of the same `SOLeader` class; the two arms differ in their
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configuration, not their control code. `SO100LeaderConfig` and `SO101LeaderConfig` are likewise aliases of
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`SOLeaderTeleopConfig`.
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[[autodoc]] lerobot.teleoperators.so_leader.SOLeader
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.so_leader.SOLeaderTeleopConfig
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## KochLeader
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[[autodoc]] lerobot.teleoperators.koch_leader.KochLeader
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.koch_leader.KochLeaderConfig
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## OmxLeader
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[[autodoc]] lerobot.teleoperators.omx_leader.OmxLeader
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.omx_leader.OmxLeaderConfig
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## OpenArmLeader
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CAN-based leader arm using Damiao motors.
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[[autodoc]] lerobot.teleoperators.openarm_leader.OpenArmLeader
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.openarm_leader.OpenArmLeaderConfig
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## BiOpenArmLeader
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A bimanual pair of `OpenArmLeader` arms.
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[[autodoc]] lerobot.teleoperators.bi_openarm_leader.BiOpenArmLeader
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- all
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[[autodoc]] lerobot.teleoperators.bi_openarm_leader.BiOpenArmLeaderConfig
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## OpenArmMini
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CAN-based leader arm using Damiao motors, a smaller/simpler OpenArm variant.
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[[autodoc]] lerobot.teleoperators.openarm_mini.OpenArmMini
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.openarm_mini.OpenArmMiniConfig
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## BiOpenArmMini
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A bimanual pair of `OpenArmMini` arms.
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[[autodoc]] lerobot.teleoperators.bi_openarm_mini.BiOpenArmMini
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- all
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[[autodoc]] lerobot.teleoperators.bi_openarm_mini.BiOpenArmMiniConfig
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## HomunculusArm
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A wearable exoskeleton arm read over a serial link.
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[[autodoc]] lerobot.teleoperators.homunculus.HomunculusArm
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.homunculus.HomunculusArmConfig
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## HomunculusGlove
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A wearable exoskeleton glove read over a serial link, remapped to HopeJR hand joints via
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`homunculus_glove_to_hope_jr_hand`.
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[[autodoc]] lerobot.teleoperators.homunculus.HomunculusGlove
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.homunculus.HomunculusGloveConfig
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[[autodoc]] lerobot.teleoperators.homunculus.homunculus_glove_to_hope_jr_hand
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## RebotArm102Leader
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[[autodoc]] lerobot.teleoperators.rebot_102_leader.RebotArm102Leader
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.rebot_102_leader.RebotArm102LeaderTeleopConfig
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## BiRebot102Leader
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A bimanual pair of `RebotArm102Leader` arms.
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[[autodoc]] lerobot.teleoperators.bi_rebot_102_leader.BiRebot102Leader
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- all
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[[autodoc]] lerobot.teleoperators.bi_rebot_102_leader.BiRebot102LeaderConfig
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## BiSOLeader
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A bimanual pair of `SOLeader` arms.
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[[autodoc]] lerobot.teleoperators.bi_so_leader.BiSOLeader
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- all
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[[autodoc]] lerobot.teleoperators.bi_so_leader.BiSOLeaderConfig
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## Phone
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Reads pose and touch input from a phone app (iOS or Android).
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[[autodoc]] lerobot.teleoperators.phone.Phone
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.phone.PhoneConfig
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## Keyboard
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`KeyboardTeleop`, `KeyboardEndEffectorTeleop`, and `KeyboardRoverTeleop` read key-press events for manual
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control, targeting joint-space, end-effector, or mobile-base actions respectively.
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardTeleop
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardTeleopConfig
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardEndEffectorTeleop
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- all
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- action_features
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardEndEffectorTeleopConfig
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardRoverTeleop
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- all
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- action_features
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.keyboard.KeyboardRoverTeleopConfig
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## GamepadTeleop
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Reads joystick/button input from a gamepad via pygame.
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[[autodoc]] lerobot.teleoperators.gamepad.GamepadTeleop
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- all
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- action_features
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- feedback_features
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- is_connected
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[[autodoc]] lerobot.teleoperators.gamepad.GamepadTeleopConfig
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## UnitreeG1Teleoperator
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A wearable exoskeleton for teleoperating the Unitree G1 humanoid's arms, mapping exoskeleton joint angles to
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G1 end-effector poses via forward/inverse kinematics.
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[[autodoc]] lerobot.teleoperators.unitree_g1.UnitreeG1Teleoperator
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- all
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.unitree_g1.UnitreeG1TeleoperatorConfig
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[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonArm
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- all
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonArmPortConfig
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[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonIKHelper
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- all
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[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonCalibration
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[[autodoc]] lerobot.teleoperators.unitree_g1.ExoskeletonJointCalibration
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## Reachy2Teleoperator
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[[autodoc]] lerobot.teleoperators.reachy2_teleoperator.Reachy2Teleoperator
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- all
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- action_features
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- feedback_features
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- is_connected
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- is_calibrated
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[[autodoc]] lerobot.teleoperators.reachy2_teleoperator.Reachy2TeleoperatorConfig
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