LeRobot SO-ARM100 Control Operation Guide

1. Single-Arm Instructional Video

2. Install the Robotic Arm

Secure the robotic arm to the table using clamps. Ensure there is a distance of one arm's length between the master arm and the follower arm to prevent interference (placement: master arm on the right, follower arm on the left).

3. Check Power and Data Cables

Connect the power and data cables, and verify the red indicator light is illuminated (securing the development board to the base with zip ties is recommended to prevent short circuits).

4. Configure Port Numbers

Find Master/Follower Arm Port Numbers

ls /dev/ttyACM*

This command displays all active ports. Unplug the target USB cable and rerun the command to identify the specific port.

python lerobot/scripts/find_motors_bus_port.py

sudo chmod 777 /dev/ttyACM*

Find Camera ID

python lerobot/common/robot_devices/cameras/opencv.py --images-dir outputs/images_from_opencv_cameras

Modify Configuration File

5. Arm Calibration

python lerobot/scripts/control_robot.py \
  --robot.type=so100 \
  --robot.cameras='{}' \
  --control.type=calibrate \
  --control.arms='["main_follower"]'

6. Teleoperation

python lerobot/scripts/control_robot.py \
  --robot.type=so100 \
  --control.type=teleoperate

Camera-free mode:

python lerobot/scripts/control_robot.py \
  --robot.type=so100 \
  --control.type=teleoperate \
  --robot.cameras='{}'