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[OpenArm] Teleop frame alignment and end effector mapping for builders integrators (intermediate)

How do you verify OpenArm teleop frame alignment before collecting demonstrations that you plan to train on later?

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OpenArm teleoperation gets confusing quickly when the operator frame, wrist frame, and task frame do not line up the way people expect.

What checks help you verify end-effector mapping before collecting real demonstrations?

Please share how you test frame alignment, left-right reversals, tool-axis conventions, and whether operators trust the mapping enough for real data collection.

If you reply, include one exact misalignment symptom and one exact validation move or calibration routine that fixed it.

Related troubleshooting path: Base Mount Moved And Calibration Reference No Longer Matches · Can Bus Timeouts And Recovery

Module: OpenArm · Audience: builders-integrators · Type: question

Tags: openarm, teleoperation, frame-alignment, mapping

Comment 1

Teams often blame the operator first, but hesitation is frequently a mapping problem. A repeatable confidence test is worth documenting.

Comment 2

Short canonical motions such as straight-line reach, yaw-only rotate, and gripper approach are simple ways to expose hidden frame assumptions.

Comment 3

If you connect your alignment checks to dataset acceptance rules, share that workflow too. Searchers often want the whole pipeline, not just one fix.

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Quick FAQ

What is the fastest intermediate diagnosis flow?

Reproduce "[OpenArm] Teleop frame alignment and end effector mapping for builders integrators (intermediate)" in a controlled loop, then compare baseline vs current measurements before applying partial fixes.

python tools/reproduce_issue.py --case current_thread
python tools/validate_fix.py --checklist standard_intermediate
When should I stop patching and run full recovery?

If residuals or drift fail your acceptance limits after warmup, switch to full recalibration/recovery workflow.

Can I copy these commands as-is?

Use them as a checklist template first. Confirm interface names, fixture IDs, and safety conditions in your own cell before execution.