# Teleoperate Sourccey

Verify the network, leader arms, robot, keyboard, and cameras together before collecting data.

Execution context: Controller computer; robot host must be prepared separately.

> Verification pending: existing website examples have not completed a pinned-source or physical-hardware walkthrough. Confirm software version, hardware revision, and actual stopping procedure. Do not assume emergency-stop or release-to-stop behavior. Explicit human approval and supervision are required before physical movement.

## Before you start

- sourccey-host is running on the robot computer.
- The robot workspace is clear and the emergency stop is within reach.
- Both leader arms are connected and calibrated.
- You know the robot IP and both leader-arm ports.

## Run teleoperation

Run this on the controller computer. Replace the example IP address and COM ports first.

```shell
uv run lerobot-teleoperate --robot.type=sourccey_client --robot.id=sourccey --robot.remote_ip=192.168.1.243 --teleop.type=bi_sourccey_leader --teleop.id=sourccey_leader --teleop.left_arm_port=COM5 --teleop.right_arm_port=COM6 --teleop_keyboard.type=keyboard --teleop_keyboard.id=sourccey_keyboard --fps=30 --display_data=true
```

## Keyboard controls

| Key | Action |
| --- | --- |
| W / S | Move forward / backward |
| A / D | Move left / right |
| Z / X | Rotate left / right |
| Q / E | Raise / lower the lift target |
| R / F | Increase / decrease base speed |
| N / M | Toggle left / right arm untorque |

## Readiness check

- Each leader arm moves only its matching robot arm.
- Base and lift keys move in the expected direction.
- Camera images update in the display.
- Releasing the controls stops motion.
- The host shows no repeated timeout or device errors.

Stop teleoperation with Ctrl+C. Fix any failed check before recording.

Website: https://vulcanrobotics.ai/docs/lerobot/teleoperate

Upstream reference (unpinned): https://github.com/vulcan-forge/lerobot-vulcan/blob/main/docs/sourccey/02-teleoperate.md