Troubleshooting

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Nothing moves

The follower applies nothing until a leader holds control. Check, in order:

1. claim_control() returned true. It returns false on a denial and on a timeout.
2. The deadman is held.
3. The follower is ACTIVE, not HOLDING. Watch on_safe_state.

If it stays in HOLDING while commands arrive, resume_requires_reclaim is set and something tripped a failsafe. Call Follower.arm() to clear it.

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The session joins, then silence

Both ends joined and neither sees the other. Almost always two different rooms. Set VIDEOSDK_MEETING_ID on both machines and confirm they match. Without it each side creates its own room, and joining an empty room succeeds.

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Holding, active, holding

Commands stopped arriving for longer than watchdog_timeout_s. In order of likelihood: a slow tick on the leader, network jitter, or an overrunning tick on the follower. Check stats() for overruns.

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Calibration

The arm moves, but wrongly. Almost always the wrong calibration file. The two arms are identical hardware, so loading the leader’s file against the follower’s bus gives plausible numbers and wrong motion. The schema check does not catch it, because both arms have the same joint names. Run so101_calibration.verify_against_bus() and check the id= you passed LeRobot. no calibration at ... means the file is not where the lookup expects it. Calibration lives under ~/.cache/huggingface/lerobot/calibration/, with robots and teleoperators in separate directories, and each host reads only its own arm’s file. Run lerobot-calibrate on that machine, or pass an explicit path. Gain feels wrong near the end stops. Each host normalises against its own arm’s travel. Copying joint_min and joint_max from one machine to the other produces an arm that tracks but with the wrong gain at the extremes.

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Errors

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Related

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Still stuck?