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Teleoperation

Important: The following section provides only the teleoperation instructions for the follower arm. All installation, configuration, assembly, and calibration steps are omitted but are needed to move forward so make sure to finish them from Follower Assembly.

  1. Simple Teleoperation

    python -m lerobot.teleoperate \
       --robot.type=giraffe_follower \
       --robot.port=/dev/tty.usbmodem58760431541 \
       --robot.id=my_follower_arm \
       --teleop.type=giraffe_leader \
       --teleop.port=/dev/tty.usbmodem58760431551 \
       --teleop.id=my_leader_arm

    The teleoperate command will automatically:

  • Identify any missing calibrations and initiate the calibration procedure.
  • Connect the robot and teleop device, and start teleoperation.

  1. Teleop with Camera Feeds

    python -m lerobot.teleoperate \
     --robot.type=giraffe_follower \
     --robot.port=/dev/tty.usbmodem58760431541 \
     --robot.id=my_follower_arm \
     --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
     --teleop.type=giraffe_leader \
     --teleop.port=/dev/tty.usbmodem58760431551 \
     --teleop.id=my_leader_arm \
     --display_data=true

    You will now see live video from both follower and leader camera streams, with joint states overlaid via rerun.

Refer to Eye in Hands to setup the Camera.