lerobot/common/robots/koch_follower/koch_follower.py [83:110]:
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    @property
    def is_connected(self) -> bool:
        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())

    def connect(self, calibrate: bool = True) -> None:
        """
        We assume that at connection time, arm is in a rest position,
        and torque can be safely disabled to run calibration.
        """
        if self.is_connected:
            raise DeviceAlreadyConnectedError(f"{self} already connected")

        self.bus.connect()
        if not self.is_calibrated and calibrate:
            self.calibrate()

        for cam in self.cameras.values():
            cam.connect()

        self.configure()
        logger.info(f"{self} connected.")

    @property
    def is_calibrated(self) -> bool:
        return self.bus.is_calibrated

    def calibrate(self) -> None:
        logger.info(f"\nRunning calibration of {self}")
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lerobot/common/robots/lekiwi/lekiwi.py [107:130]:
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    @property
    def is_connected(self) -> bool:
        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())

    def connect(self, calibrate: bool = True) -> None:
        if self.is_connected:
            raise DeviceAlreadyConnectedError(f"{self} already connected")

        self.bus.connect()
        if not self.is_calibrated and calibrate:
            self.calibrate()

        for cam in self.cameras.values():
            cam.connect()

        self.configure()
        logger.info(f"{self} connected.")

    @property
    def is_calibrated(self) -> bool:
        return self.bus.is_calibrated

    def calibrate(self) -> None:
        logger.info(f"\nRunning calibration of {self}")
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