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name: teleoperation-and-collection description: "Guides interactive RoboCasa keyboard or SpaceMouse teleoperation, demonstration collection, safe interruption recovery, and raw HDF5 handoff boundaries." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Teleoperation and Collection

Use this sub-skill when a task asks to control a RoboCasa robot interactively or record successful human demonstrations. Both workflows open a viewer and consume live input; collection also writes episode files and mutates HDF5 output. Never present them as unattended or automatically verified.

Route the request

• Read teleoperation.md for keyboard/SpaceMouse setup, display and input prerequisites, renderer choice, task/layout/style selection, controls, and the no-save teleoperation demo.
• Read collection.md for the collection CLI, successful-episode filtering, output layout, raw HDF5 structure, interruption behavior, and conversion boundaries.
• Read troubleshooting.md before recovering from headless display errors, pynput/hidapi failures, SpaceMouse ID mismatches, missing assets, partial collection, unwritable output, or conversion failures.
• Run scripts/check_teleop_prereqs.py before an interactive session. Its default mode only inspects environment variables and package metadata; it never opens a viewer, writes a dataset, or enumerates HID devices.

Boundaries

• Route core Gym/robosuite environment construction and controller design to the simulation-environments sub-skill.
• Route canonical dataset schemas, downloaded demonstrations, inspection, playback, and dataset conversion depth to the datasets-demonstrations sub-skill.
• Route kitchen fixture/object/layout assets and asset download or authoring to the tasks-scenes-assets sub-skill.
• Treat the LeRobot conversion command here only as a post-collection handoff. Do not expand it into a conversion or playback workflow in this sub-skill.
• setup_macros.py is an interactive, potentially overwriting helper. Read the warning in teleoperation.md; do not run it automatically.

Safety gate

1. Confirm a local graphical session and that keyboard focus or HID access is available.
2. Confirm required kitchen assets are installed before opening a viewer. Package importability alone does not prove reset readiness.
3. For collection, choose an explicitly writable --directory with enough space and decide whether raw episode directories must be retained.
4. Run only --help or the bundled diagnostic non-interactively. Mark live teleoperation and playback as deferred interactive evidence.