From ccb8468e9baaef34320752078e893bdb8b3b3112 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Wed, 28 May 2025 10:15:19 +0200
Subject: [PATCH] Complete TODO for cameras on robots 'is_connected'

---
 lerobot/common/robots/koch_follower/koch_follower.py   | 3 +--
 lerobot/common/robots/lekiwi/lekiwi.py                 | 3 +--
 lerobot/common/robots/so100_follower/so100_follower.py | 4 +---
 lerobot/common/robots/so101_follower/so101_follower.py | 4 +---
 lerobot/common/robots/viperx/viperx.py                 | 3 +--
 5 files changed, 5 insertions(+), 12 deletions(-)

diff --git a/lerobot/common/robots/koch_follower/koch_follower.py b/lerobot/common/robots/koch_follower/koch_follower.py
index a9ac1c82d..6f613dfe2 100644
--- a/lerobot/common/robots/koch_follower/koch_follower.py
+++ b/lerobot/common/robots/koch_follower/koch_follower.py
@@ -82,8 +82,7 @@ class KochFollower(Robot):
 
     @property
     def is_connected(self) -> bool:
-        # TODO(aliberts): add cam.is_connected for cam in self.cameras
-        return self.bus.is_connected
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     def connect(self, calibrate: bool = True) -> None:
         """
diff --git a/lerobot/common/robots/lekiwi/lekiwi.py b/lerobot/common/robots/lekiwi/lekiwi.py
index 986b9d1ea..85298e21b 100644
--- a/lerobot/common/robots/lekiwi/lekiwi.py
+++ b/lerobot/common/robots/lekiwi/lekiwi.py
@@ -102,8 +102,7 @@ class LeKiwi(Robot):
 
     @property
     def is_connected(self) -> bool:
-        # TODO(aliberts): add cam.is_connected for cam in self.cameras
-        return self.bus.is_connected
+        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:
diff --git a/lerobot/common/robots/so100_follower/so100_follower.py b/lerobot/common/robots/so100_follower/so100_follower.py
index bb9058ee5..92a12e537 100644
--- a/lerobot/common/robots/so100_follower/so100_follower.py
+++ b/lerobot/common/robots/so100_follower/so100_follower.py
@@ -79,8 +79,7 @@ class SO100Follower(Robot):
 
     @property
     def is_connected(self) -> bool:
-        # TODO(aliberts): add cam.is_connected for cam in self.cameras
-        return self.bus.is_connected
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     def connect(self, calibrate: bool = True) -> None:
         """
@@ -94,7 +93,6 @@ class SO100Follower(Robot):
         if not self.is_calibrated and calibrate:
             self.calibrate()
 
-        # Connect the cameras
         for cam in self.cameras.values():
             cam.connect()
 
diff --git a/lerobot/common/robots/so101_follower/so101_follower.py b/lerobot/common/robots/so101_follower/so101_follower.py
index da97d6ad0..610ebac28 100644
--- a/lerobot/common/robots/so101_follower/so101_follower.py
+++ b/lerobot/common/robots/so101_follower/so101_follower.py
@@ -79,8 +79,7 @@ class SO101Follower(Robot):
 
     @property
     def is_connected(self) -> bool:
-        # TODO(aliberts): add cam.is_connected for cam in self.cameras
-        return self.bus.is_connected
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     def connect(self, calibrate: bool = True) -> None:
         """
@@ -94,7 +93,6 @@ class SO101Follower(Robot):
         if not self.is_calibrated and calibrate:
             self.calibrate()
 
-        # Connect the cameras
         for cam in self.cameras.values():
             cam.connect()
 
diff --git a/lerobot/common/robots/viperx/viperx.py b/lerobot/common/robots/viperx/viperx.py
index 248b45774..d96adb269 100644
--- a/lerobot/common/robots/viperx/viperx.py
+++ b/lerobot/common/robots/viperx/viperx.py
@@ -83,8 +83,7 @@ class ViperX(Robot):
 
     @property
     def is_connected(self) -> bool:
-        # TODO(aliberts): add cam.is_connected for cam in self.cameras
-        return self.bus.is_connected
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     def connect(self, calibrate: bool = True) -> None:
         """