Virtual leader teleop + episode recording for the SO-101 - #94

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MJohnson459 merged 22 commits into

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arm/virtual-leader-teleop

Sep 3, 2026

Commits on Sep 2, 2026

Virtual-leader teleop and LeRobot episode recording for the SO-101

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55b398e
Review: reap the loop test's nodes by session, and stop check_capture crashing

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0fa5c1b
bench_teleop: name the terminal, ask one thing at a time, check what it can check

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68e5040
The camera does fit: the arm is mounted 180 degrees round

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63cc338
virtual_leader: show where the joint is while you drive it

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86287ba
arm_mirror: measure where the motion is going instead of guessing

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b5044fb
The arm stops where the goal register runs out, and now says so

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e741c44
arm-check: show the servo's own goal-range limits

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The arm stops where the servo's own goal-range fence is, and now says so

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8a4ae2b

Commits on Sep 3, 2026

Record what set the arm's goal-range fence

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4ce0b0e
Calibration writes the fence and the zero together, or neither

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05d599c
Fence each joint straight after its own zero, never unfence first

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b68fa3e
arm-pose: store poses that can be reached, and size the travel guard off the arm

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8201d09
arm-pose go: delete the travel ceiling rather than resize it

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6776d08
Read whether the arm is held; drop arm-pose go's confirmation

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7cb0435
One `mirror:=` switch, so teleop does not cost a terminal for wanting a camera

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1869458
bench-teleop: quitting the recorder is a verdict, not a traceback

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d8b97b7
One `arm-setup` for everything that configures the servos

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37ba485
Teleop is one process: fold the mirror into it and drop the leader topic

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b408e6f
Retire `jog`: teleop gains a step mode, on the path with the safety rules

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062408b
Stop naming the arm we do not have

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c656f93
Delete the bench rig; the checks it asked about belong in BENCH.md

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d040e3c