Most teleoperation trouble starts before anyone is holding the leader. This is the short list I want visible before a test run.

  1. Confirm both machines agree on joint order and sign.
  2. Check estop, watchdog, and torque limits with the follower unloaded.
  3. Start with slow gains, then add authority one variable at a time.
  4. Write down the one weird thing before it becomes three weird things.

Nothing fancy. Just enough ceremony to make the next debug session about the robot instead of the setup.