Pick the path that matches what you already run.

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How it fits together

Whichever you pick, it becomes the same two classes, so safety, recording and video sync work the same way on each.

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What you write

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Choosing a path

LeRobot

You already drive an SO-101 with LeRobot.

ROS 2

You already have ROS 2 drivers and topics.

Custom

Anything else, including your own hardware.
Both ends must use the same joint names, in the same order, with the same units. The leader checks this when control is granted and declines if they do not match, so claim_control() returns False.
Using a framework we do not ship an adapter for yet? Tell us at support@videosdk.live and we are happy to build one for it. In the meantime, a subclass of your own works with any hardware today.