4 · Teleoperation
Previous: 03 Connect and calibrateNext: 05 Record a dataset
You move the leader arm by hand; the follower copies the motion. This is how you record demonstrations, and the quickest way to confirm calibration.
Running it
- Open the Teleoperation tab.
- Confirm the ports and calibration profile — LeLab remembers those from calibration.
- Start teleoperation.
- Move the leader arm.
The tab streams joint positions while it runs. Press stop when done.
Stop is what parks the follower. Closing the tab or killing the process leaves the arm where it is.
What to check
| Check | Why |
|---|---|
| The follower tracks smoothly, without lag or jitter | Rough tracking becomes unusable training data |
| The follower's range matches the leader's | Stopping short or hitting a limit means a joint is miscalibrated — go back to page 3 |
| Both arms move in the same direction | An inverted follower means a joint was calibrated in the wrong direction |
| Nothing collides at the extremes | Move through the full range you plan to use |
If the motion is wrong but not broken — offset, one joint inverted, short of range — recalibrate rather than compensating. A miscalibrated arm produces a dataset that trains the policy to do the wrong thing.
Cameras
If cameras are configured, the teleoperation view shows their previews.
- Wrist camera: does it show the gripper and what it is about to grasp?
- Fixed camera: does it show the whole workspace?
- Is either image sideways or upside down? Fix the rotation on the calibration tab before recording.
Frames recorded during teleoperation are the only thing the policy ever sees.
Next: 05 Record a dataset