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 <!--ryqzyp--><meta name="hf:doc:metadata" content="{&quot;title&quot;:&quot;Teleoperators&quot;,&quot;local&quot;:&quot;teleoperators&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;Teleoperator&quot;,&quot;local&quot;:&quot;lerobot.teleoperators.Teleoperator&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;TeleoperatorConfig&quot;,&quot;local&quot;:&quot;lerobot.teleoperators.TeleoperatorConfig&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2},{&quot;title&quot;:&quot;make_teleoperator_from_config&quot;,&quot;local&quot;:&quot;lerobot.teleoperators.make_teleoperator_from_config&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2}],&quot;depth&quot;:1}"/><!---->
 <link href="/docs/lerobot/pr_4380/en/_app/immutable/assets/0.tn0RQdqM.css" rel="modulepreload"> <!--[--><!--[0--><!--[--><!--[0--><!--[--><p></p> <div class="items-center shrink-0 min-w-[100px] max-sm:min-w-[50px] justify-end ml-auto flex" style="float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"><div class="inline-flex rounded-md max-sm:rounded-sm"><button class="inline-flex items-center gap-1 h-7 max-sm:h-7 px-2 max-sm:px-1.5 text-sm font-medium text-gray-800 border border-r-0 rounded-l-md max-sm:rounded-l-sm border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-live="polite"><span class="inline-flex items-center justify-center rounded-md p-0.5 max-sm:p-0 hover:text-gray-800 dark:hover:text-gray-200"><svg class="sm:size-3.5 size-3" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg><!----></span> <span>Copy page</span></button> <button class="inline-flex items-center justify-center w-6 max-sm:w-5 h-7 max-sm:h-7 disabled:pointer-events-none text-sm text-gray-500 hover:text-gray-700 dark:hover:text-white rounded-r-md max-sm:rounded-r-sm border border-l transition border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-haspopup="menu" aria-expanded="false" aria-label="Open copy menu"><svg class="transition-transform text-gray-400 overflow-visible sm:size-3.5 size-3 rotate-0" width="1em" height="1em" viewBox="0 0 12 7" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M1 1L6 6L11 1" stroke="currentColor"></path></svg><!----></button></div> <!--[-1--><!--]--></div><!----> <!--[0--><h1 class="relative group"><a id="teleoperators" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#teleoperators"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>Teleoperators</span></h1><!--]--><!----> <p>A teleoperator produces actions for a robot to follow — a leader arm, a gamepad, a keyboard, a phone. All of
them implement the <code>Teleoperator</code> interface, so a recording script written against it works with any input
device.</p> <p>See <a href="../phone_teleop">Phone teleoperation</a> and <a href="../isaac_teleop">Isaac Teleop</a> for setup guides, and <a href="../il_robots">Imitation Learning for Robots</a> for the recording workflow.</p> <!--[1--><h2 class="relative group"><a id="lerobot.teleoperators.Teleoperator" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.Teleoperator"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>Teleoperator</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.teleoperators.</span><span class="font-semibold">Teleoperator</span></span></h3><!----> <a id="lerobot.teleoperators.Teleoperator" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L29" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">config<span class="opacity-60">: TeleoperatorConfig</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[0--><p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><!--[--><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.teleoperators.Teleoperator.config_class" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.Teleoperator.config_class"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>config_class</strong> (RobotConfig) &#x2014; The expected configuration class for this teleoperator.<!----></span></span></li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.teleoperators.Teleoperator.name" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.Teleoperator.name"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>name</strong> (str) &#x2014; The unique name used to identify this teleoperator type.<!----></span></span></li><!--]--></ul><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>The base abstract class for all LeRobot-compatible teleoperation devices.</p> <p>This class provides a standardized interface for interacting with physical teleoperators.
Subclasses must implement all abstract methods and properties to be usable.</p> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.connect"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>connect</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.connect" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.connect"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L122" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">calibrate<span class="opacity-60">: bool = True</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[0--><p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><!--[--><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.teleoperators.Teleoperator.connect.calibrate" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.Teleoperator.connect.calibrate"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>calibrate</strong> (bool) &#x2014; If True, automatically calibrate the teleoperator after connecting if it&#x2019;s not
calibrated or needs calibration (this is hardware-dependant).<!----></span></span></li><!--]--></ul><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Establish communication with the teleoperator.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.disconnect"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>disconnect</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.disconnect" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.disconnect"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L205" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Disconnect from the teleoperator and perform any necessary cleanup.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.configure"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>configure</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.configure" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.configure"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L171" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Apply any one-time or runtime configuration to the teleoperator.
This may include setting motor parameters, control modes, or initial state.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.calibrate"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>calibrate</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.calibrate" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.calibrate"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L139" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Calibrate the teleoperator if applicable. If not, this should be a no-op.</p> <p>This method should collect any necessary data (e.g., motor offsets) and update the
:pyattr:<code>calibration</code> dictionary accordingly.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.get_action"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>get_action</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.get_action" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.get_action"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L179" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[0--><span class="font-bold">→</span> <span class="rounded hover:bg-gray-400 cursor-pointer"><!----><script context="module">export const metadata = 'undefined';</script><span>RobotAction</span><!----></span><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[0--><div id="lerobot.teleoperators.Teleoperator.get_action.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p> <!--[0--><!----><script context="module">export const metadata = 'undefined';</script>
<p>RobotAction</p>
<!----><!--]--> <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div> <p class="text-base"><!----><script context="module">export const metadata = 'undefined';</script>
<p>A flat dictionary representing the teleoperator’s current actions. Its
structure should match :pymeth:<code>observation_features</code>.</p>
<!----></p><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Retrieve the current action from the teleoperator.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.send_feedback"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>send_feedback</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.send_feedback" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.send_feedback"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L190" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">feedback<span class="opacity-60">: dict</span></span></span><!--]--> <span>)</span> <!--[0--><span class="font-bold">→</span> <span class="rounded hover:bg-gray-400 cursor-pointer"><!----><script context="module">export const metadata = 'undefined';</script><span>dict[str, Any]</span><!----></span><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[0--><p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><!--[--><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.teleoperators.Teleoperator.send_feedback.feedback" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.Teleoperator.send_feedback.feedback"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>feedback</strong> (dict[str, Any]) &#x2014; Dictionary representing the desired feedback. Its structure should match
:pymeth:<code>feedback_features</code>.<!----></span></span></li><!--]--></ul><!--]--> <!--[-1--><!--]--> <!--[0--><div id="lerobot.teleoperators.Teleoperator.send_feedback.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p> <!--[0--><!----><script context="module">export const metadata = 'undefined';</script>
<p>dict[str, Any]</p>
<!----><!--]--> <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div> <p class="text-base"><!----><script context="module">export const metadata = 'undefined';</script>
<p>The action actually sent to the motors potentially clipped or modified, e.g. by
safety limits on velocity.</p>
<!----></p><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Send a feedback action command to the teleoperator.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.action_features"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>action_features</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.action_features" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.action_features"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L87" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>A dictionary describing the structure and types of the actions produced by the teleoperator. Its
structure (keys) should match the structure of what is returned by :pymeth:<code>get_action</code>. Values for
the dict should be the type of the value if it’s a simple value, e.g. <code>float</code> for single
proprioceptive value (a joint’s goal position/velocity)</p> <p>Note: this property should be able to be called regardless of whether the robot is connected or not.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.feedback_features"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>feedback_features</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.feedback_features" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.feedback_features"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L100" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>A dictionary describing the structure and types of the feedback actions expected by the robot. Its
structure (keys) should match the structure of what is passed to :pymeth:<code>send_feedback</code>. Values for
the dict should be the type of the value if it’s a simple value, e.g. <code>float</code> for single
proprioceptive value (a joint’s goal position/velocity)</p> <p>Note: this property should be able to be called regardless of whether the robot is connected or not.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.is_connected"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>is_connected</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.is_connected" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.is_connected"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L113" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Whether the teleoperator is currently connected or not. If <code>False</code>, calling :pymeth:<code>get_action</code> or :pymeth:<code>send_feedback</code> should raise an error.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.Teleoperator.is_calibrated"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>is_calibrated</span></h4><!----> <a id="lerobot.teleoperators.Teleoperator.is_calibrated" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.Teleoperator.is_calibrated"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/teleoperator.py#L133" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Whether the teleoperator is currently calibrated or not. Should be always <code>True</code> if not applicable</p></div></div> <!--[1--><h2 class="relative group"><a id="lerobot.teleoperators.TeleoperatorConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.TeleoperatorConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>TeleoperatorConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.TeleoperatorConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.teleoperators.</span><span class="font-semibold">TeleoperatorConfig</span></span></h3><!----> <a id="lerobot.teleoperators.TeleoperatorConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.TeleoperatorConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/config.py#L23" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">id<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">calibration_dir<span class="opacity-60">: pathlib.Path | None = None</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <!--[1--><h2 class="relative group"><a id="lerobot.teleoperators.make_teleoperator_from_config" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.teleoperators.make_teleoperator_from_config"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>make_teleoperator_from_config</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.teleoperators.make_teleoperator_from_config"><!----><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>lerobot.teleoperators.make_teleoperator_from_config</span></h4><!----> <a id="lerobot.teleoperators.make_teleoperator_from_config" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.teleoperators.make_teleoperator_from_config"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/teleoperators/utils.py#L36" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">config<span class="opacity-60">: TeleoperatorConfig</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/lerobot/blob/main/docs/source/api/teleoperators.mdx" target="_blank"><svg class="mr-1" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M31,16l-7,7l-1.41-1.41L28.17,16l-5.58-5.59L24,9l7,7z"></path><path d="M1,16l7-7l1.41,1.41L3.83,16l5.58,5.59L8,23l-7-7z"></path><path d="M12.419,25.484L17.639,6.552l1.932,0.518L14.351,26.002z"></path></svg><!----> <span><span class="underline">Update</span> on GitHub</span></a><!----> <p></p><!--]--><!----><!--]--><!--]--><!--]--> <!--[-1--><!--]--><!--]-->
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