> ## Documentation Index
> Fetch the complete documentation index at: https://docs.robot-learning.co/llms.txt
> Use this file to discover all available pages before exploring further.

# 3. Teleoperation

# Impedance Control (experimental)

Use [LeRobot's CLI](https://huggingface.co/docs/lerobot/il_robots) to identify your leader and follower ports:

```
uv run lerobot-find-port
```

<Warning>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.</Warning>

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](https://github.com/robot-learning-co/trlc-dk1/tree/wip/impedance-controller).