Skip to main content

5.4 Teleoperation

KikoBot C1 is fully calibrated and ready now, you can begin teleoperating the robot. Teleoperation allows you to control the robot manually, providing a hands-on way to interact with its movements. Below, we’ll guide you through the process of teleoperating your KikoBot C1, both with and without camera display, depending on your needs.

Step 1: Simple Teleoperation (Without Camera Display)​

The first step in teleoperating your KikoBot C1 is running a simple command that will allow you to manually control the robot. This basic teleoperation script doesn’t display camera feeds but provides full control over the robot’s movements.

i. Run the Teleoperation Script​

To get started, use the following script in your terminal to initiate simple teleoperation:

python lerobot/scripts/control_robot.py teleoperate 

    --robot-path lerobot/configs/robot/kikobot_c1.yaml 

    --robot-overrides '~cameras' 

    --display-cameras 0
  • --robot-path lerobot/configs/robot/kikobot.yaml: This points to the configuration file for your KikoBot C1 robot, containing all the necessary setup details.
  • --robot-overrides '~cameras': This tells the script to exclude camera setups, as we are not displaying camera feeds at this stage.
  • --display-cameras 0: Setting this to 0 disables camera display, making the teleoperation process more focused on the robot's movement control.

ii. What to Expect​

Once you run this script, the robot’s basic teleoperation mode will activate, and you’ll be able to control its movements using your keyboard or external controllers. The robot will move based on the inputs you provide, but no video feed from the robot's cameras will be shown.

Step 2: Teleoperation with Camera Display​

If you need to see the camera feed while controlling the robot (for example, when preparing for tasks such as dataset recording or visual inspection), you can display the live video feed from the KikoBot C1’s cameras during teleoperation.

i. Setting Up the Cameras​

Before you can display the camera feed, make sure that the cameras on your KikoBot C1 are set up properly. This involves:

  1. Connecting the Cameras: Ensure the cameras are physically connected to the robot and powered on.
  2. Configuring the Camera Settings: If needed, follow the instructions for configuring camera settings in your robot’s YAML file or a separate configuration guide.

ii. Run the Teleoperation Script with Camera Display​

Once the cameras are set up, you can enable the display of camera feeds during teleoperation by running the following command:

python lerobot/scripts/control_robot.py teleoperate 

    --robot-path lerobot/configs/robot/kikobot.yaml

This script has the following effect:

  • --robot-path lerobot/configs/robot/kikobot.yaml: This ensures that the KikoBot C1 configuration is loaded, just like in the previous step.
  • No need for --robot-overrides '~cameras': In this case, the script will use the camera configurations defined in the kikobot.yaml file, meaning the cameras will be active.
  • Camera Display Enabled: By default, running this command will display the cameras’ live feed on your screen as you control the robot. You can see exactly what the robot sees while moving.

iii. What to Expect​

When you run this script, not only will the robot start responding to your control inputs, but you will also see a real-time video stream from the robot’s cameras. This feature is especially useful for situations like:

  • Navigating Obstacles: Visually monitor the environment in which the robot is operating.
  • Data Recording: Ensure the robot is recording the right frames if you’re setting up for dataset collection.
  • Adjusting Robot Positioning: Fine-tune the robot’s movements and see how it’s interacting with its surroundings.

Cautions :​

  • Smooth Control: While teleoperating, ensure you’re using smooth, deliberate movements to avoid jerky actions that could affect the robot's stability.
  • Camera Orientation: If you’re using cameras, adjust their angle for optimal visibility, especially when navigating narrow spaces or fine-tuning movements.
  • Safety First: When teleoperating the robot, make sure to operate in a clear space free from obstacles that could damage the robot or the environment.

By completing these steps, you’ll be able to successfully teleoperate your Kikobot C1, with or without camera feeds, depending on your preference. Whether you’re testing its movement, navigating obstacles, or preparing for data collection, teleoperation gives you full control and a visual understanding of the robot's surroundings.