The package is videosdk-teleop on PyPI, and the SDK inside it is two classes. Extend one on each machine, fill in a few methods, and it handles the session, safety, correlation and recording for you.
These docs describe 0.1.1, and this is a 0.x API. Class names, callback signatures, config fields and the adapter protocols can all change between releases without notice. Pin the version you build against.

Follower

Constructor, properties, methods and events for the machine that moves.

Leader

Control, arming, synced observations and events.

Quickstart

Write both scripts and drive a joint, with the output to compare against.

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Classes

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Adapters

Ready-made subclasses, so a machine already on one of these needs no class of your own.

LeRobot

Wrap an existing LeRobot robot and teleoperator.

ROS 2

Read and write the topics your drivers already use.

Errors

Every exception the SDK raises, what raises it, and what to catch.