Teleoperation

By running the following code, you can start your first SAFE teleoperation:

python lerobot/scripts/control_robot.py \
  --robot.type=trossen_ai_stationary \
  --robot.max_relative_target=5 \
  --control.type=teleoperate

python lerobot/scripts/control_robot.py \
  --robot.type=trossen_ai_mobile \
  --robot.max_relative_target=5 \
  --control.type=teleoperate

python lerobot/scripts/control_robot.py \
  --robot.type=trossen_ai_solo \
  --robot.max_relative_target=5 \
  --control.type=teleoperate

By adding --robot.max_relative_target=5, we override the default value for max_relative_target defined in Trossen AI Robot Configurations.

This limit is in place to prioritize safety by restricting the magnitude of movement. However, it may result in less smooth teleoperation. Once you’re confident in controlling the robot safely, you can remove this restriction by setting --robot.max_relative_target=null in the command line.

 python lerobot/scripts/control_robot.py \
   --robot.type=trossen_ai_stationary \
   --robot.max_relative_target=null \
   --control.type=teleoperate

 python lerobot/scripts/control_robot.py \
   --robot.type=trossen_ai_mobile \
   --robot.max_relative_target=null \
   --control.type=teleoperate

python lerobot/scripts/control_robot.py \
  --robot.type=trossen_ai_solo \
  --robot.max_relative_target=null \
  --control.type=teleoperate

Teleoperation Configuration

When using the robot in teleoperation mode you can specify command line arguments to customize the behavior:

--control.fps: The number of frames per second to send to the robot.
--control.teleop_time_s: The duration of the teleoperation in seconds.
--control.display_cameras: Flag to display the camera feeds.