Part II · §17–§29 · Teleoperation and data collection with Hugging Face LeRobot
17What LeRobot is and where it sits
18Teleop hardware options
19Installation on zeus
20Conventions: LeRobot vs ROS 2Names · Units · Control parameters (MIT mode in both) · Joint limits (degrees) · Converting a LeRobot action to a …
21Calibration and the shared motor zero
22Bus and port layoutzeus (as cabled now) · How to re-identify which is which
23Step-by-step teleoperationSetup and calibration: setup_openarm_lerobot.sh · Calibrating the Minis correctly · Teleop: safe_teleop.py (use …
24Recording, training and running policiesRecord a dataset · Inspect / replay · Train a policy (on the RTX 5050 or a bigger machine) · Which policy to train · …
25Switching between LeRobot and ROS 2Ways to combine them (not built yet)
26Teleop safety notes
27LeRobot troubleshooting
28Enactic's own openarm_teleop
29Quick reference card