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Impedance Control (experimental)

Switch to branch wip/impedance-controller: 
git checkout wip/impedance-controller
Use LeRobot’s CLI to identify your leader and follower ports: 
uv run lerobot-find-port
Continue carefully! Before starting to teleoperate, ensure that leader and follower are in the same configuration. The follower will start tracking the leader’s joint angles - a mismatch can lead to a fast and agressive jump in the beginning.
This is an example command to run single arm teleop with just the wrist camera: 
uv run lerobot-teleoperate \
    --robot.type=dk1_follower \
    --robot.port=YOUR FOLLOWER PORT \
    --teleop.type=dk1_leader \
    --teleop.port=YOUR LEADER PORT \
    --robot.cameras="{ 
        wrist: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 60, rotation: 180, fourcc: "YUY2"}
      }" \
    --display_data=true
More examples can be found in the repository’s README.