1. A method comprising: moving a mobile device with a desired motion for a robot that is remote from the mobile device, the mobile device having a camera; determining a trajectory of the mobile device using images captured by the camera; converting the trajectory of the mobile device into the desired motion of the robot; generating control information for the robot to move with the desired motion; the method further comprises calibrating a transformation that converts the trajectory of the mobile device to the desired motion of the robot, wherein converting the trajectory of the mobile device into the desired motion of the robot comprises using the transformation, wherein calibrating the transformation comprises: coupling the mobile device to the robot; moving the robot while determining a training trajectory of the mobile device; using movement of the robot and the training trajectory of the mobile device to generate a calibration transformation of the movement of the robot to the training trajectory of the mobile device; and inverting the calibration transformation to produce the transformation of the trajectory of the mobile device to the desired motion of the robot.