Teleoperation

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

Note

Make sure to replace the IP addresses and camera serial numbers/index with your own.

Trossen AI SoloTrossen AI Stationary

uv run lerobot-teleoperate \
    --robot.type=widowxai_follower_robot \
    --robot.ip_address=192.168.1.4 \
    --robot.id=follower \
    --robot.cameras="{
        cam_left: {type: intelrealsense, serial_number_or_name: "0123456789", width: 640, height: 480, fps: 30},
        cam_right: {type: intelrealsense, serial_number_or_name: "0123456789", width: 640, height: 480, fps: 30},
        }" \
    --teleop.type=widowxai_leader_teleop \
    --teleop.ip_address=192.168.1.2 \
    --teleop.id=leader \
    --display_data=true

Teleoperation Configuration

Note

For additional configuration options, use the command below to see all available command line arguments:

uv run lerobot-teleoperate --help

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

• --fps (int): The number of frames per second to send to the robot.

• --teleop_time_s (int): The duration of the teleoperation in seconds.

• --robot.max_relative_target (float): limits the magnitude of the relative positional target vector for safety purposes (default: 5.0). Once you’re confident in controlling the robot safely, you can remove this restriction by setting it to null.

• --robot.loop_rate (int): Control loop rate in Hz (default: 30)