Characters videotaped a lobster from inside pleasure boat (6)
I believe the answer is:
pedalo
'pleasure boat' is the definition.
(I've seen this before)
'characters videotaped a lobster from' is the wordplay.
'characters' says the answer is hidden in the clue (some letters or characters from the clue).
'PEDALO' is hidden in the letters of 'videotaped a lobster from'.
'inside' is the link.
(Other definitions for pedalo that I've seen before include "Pleasure craft -- old ape (anag)" , "Paddle boat" , "Small foot-powered pleasure boat" , "Man-powered leisure boat" , "Boat driven by foot power" .)