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Teleoperation

  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.