Teleoperation

Document the control interface used to move the physical follower arm.

Previous experiments included a terminal-based joint jog controller and a teach-and-repeat script that records manually guided joint positions and plays them back.

For each revision, record:

• Joint naming and mapping to servo IDs.
• Units and sign conventions.
• Joint limits and how they were established.
• Update frequency and motion interpolation.
• Safety behavior when communication is lost.
• Playback speed and transition handling.

Do not treat playback limits or joint ranges as safe until they have been checked against the physical mechanism.