Impedance Control (experimental)

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.

Getting started

Guides

3. Teleoperation

Impedance Control (experimental)

​Impedance Control (experimental)

Impedance Control (experimental)