DOCUMENTED LAB STATE
What our first smoke sessions actually established.
On 30 August 2026, the project operator reported that the leader arm drove the follower after configuring and calibrating the twelve bus servos. A second working teleoperation confirmation followed on 16 September 2026 after troubleshooting.
The work sessions also reported a local single-episode no-video recording and a successful replay. The evidence ledger records these separately. None of these facts is proof that a learned policy was trained or that the robot reached a measured autonomous task-success rate.
LE ROBOT PIPELINE
Native LeRobot gives us a real data-acquisition path.
The upstream LeRobot interface connects the follower robot and leader teleoperator with separate configs. The robot ID determines which calibration record is loaded. When cameras are configured, an observation stream can be added, but the historical OpenRGD smoke capture was explicitly no-video.
Use the current LeRobot CLI documentation as the version-specific source for commands. Do not assume a command copied from an older repository branch remains valid after framework upgrades.
WHAT TO MEASURE
Visual following is not yet a tracking benchmark.
To quantify leader/follower fidelity, record calibrated leader position, follower target, follower observed position, timestamps and connection faults. Compare per-joint lag, sign consistency, overshoot, steady-state error, dropped commands and reset behavior.
Feedback acquisition timestamps must be distinguished from timestamps at which software receives values. A read-back that arrives late is not a direct measurement of motor onset or mechanical response.
Correspondence
Are the leader and follower reporting comparable joint coordinates under matching calibration?
Lag
What is the distribution from observed leader motion to measured follower movement?
Tracking error
How close is the physical follower trajectory, not just the sent action?
Fault handling
What happens on port loss, unresponsive servo, bad calibration or safe-stop?
OPENRGD RUNTIME
Native LeRobot teleoperation is not the same as an OpenRGD physical runtime sign-off.
LeRobot acts as the native robot-interface and data-acquisition layer in this experiment. OpenRGD candidate contracts describe a separate semantic handoff through ActionIntent, somatic translation, capability grounding and safety gating.
The canonical OpenRGD repository is non-actuating. Passing a native LeRobot teleoperation smoke test does not automatically validate an independently governed embodied runtime or a Body Adapter.