How to use the Lekiwi in Lerobot

Introduction

The Lekiwi is a fully open-source robotic car project launched by SIGRobotics-UIUC. It includes the detailed 3D printing files and operation guides, designed to be compatible with the LeRobot imitation learning framework. It supports the SO101 robotic arm to enable a complete imitation learning pipeline,

Get One Now 🖱️

Main Features

Open-source and low-cost: It is an open-source, low-cost robotic car solution from The Lekiwi
Integration with LeRobot: Designed for integration with LeRobot platform
Abundant learning resources: Provides comprehensive open-source learning resources like assembly and calibration guides, and tutorials for testing, data collection, training and deployment to assist users in quickly getting started and developing robotic applications.
Compatible with Nvidia: Deploy this arm kit with reComputer Mini J4012 Orin NX 16 GB.
Multi-Scene Application: It is applicable to fields such as education, scientific research, automated production, and robotics, helping users achieve efficient and precise robot operations in various complex tasks.

caution

Seeed Studio is only responsible for the quality of the hardware itself. The tutorials are strictly updated in accordance with the official documentation. If you encounter software issues or environment dependency problems that cannot be resolved, please promptly report the issue to the LeRobot platform or the LeRobot Discord channel.

danger

All servo motors in the LeKiwi chassis require 12V power supply. For users with 5V robotic arms, we provide a 12V-to-5V step-down converter module. Please note that circuit modification will be required on your part.
A 12V power supply - You may select this option at checkout if needed. If you already own a 12V power supply, you may skip this option and simply convert your power supply's output connector to a 5521 DC plug.
Raspberry Pi controller and camera - These must be purchased separately through the order interface.

Specification

Type	Lekiwi
Servo Motos	3x 12v STS3215 1:345 Gear Rate
Power Supply	12V DC or Battery
Angle sensor	12-bit magnetic encoder
Recommended Operating Temperature Range	0℃～40℃
Communication Method	UART
Control Method	PC

Bill of Materials(BOM)

Part	Amount	Included
STS3215 1:345 12V Servo Motos	3	✅
Omnidirectional wheel/universal wheel	3	✅
Lekiwi 3D printed enclosure	1	✅
DC-DC Buck Power Module - 24V/12V to 5V	1	✅
Motor Control Board	1	✅
DC Male to Dual DC Male 5521 Y-Cable	1	✅
USB Cable;Type C 2.0 to Type C 2.0-Black;L150mm	1	✅
USB 3.1 Type C to A Cable 0.5 Meter	1	✅
Plug Power Adapter;Black-12V-2A AC/DC	1	✅
M2 M3 M4 Assorted Screw	Enough	✅
Raspberry pi	1	Option
USB Camera	1	Option
Depth Camera	2	Option
SO-ARM101 Pro	1	Option
12V High - Capacity Lithium - ion Battery Pack E326S	1	Option

Initial System Environment

For Ubuntu x86:

Ubuntu 22.04
CUDA 12+
Python 3.10
Torch 2.6

For Jetson Orin:

Jetson JetPack 6.2
Python 3.10
Torch 2.6

For Raspberry Pi:

Raspberry Pi5 4G~16G

[A. 3D Printing Guide]

[B. Install LeRobot]

[C. Configure the motors]

[D. Assembly]

[E. Calibrate]

[F. Teleoperate]

[G. Add cameras]

[H. Record the dataset]

[I. Visualize the dataset]

[J. Replay an episode]

[K. Train a policy]

[L. Evaluate your policy]

3D Printing Guide

Parts

We provide ready-to-print STL files for the 3D-printed parts below. These can be printed with generic PLA filament on consumer-grade FDM printers. We tested on a Bambu Lab P1S printer. For all components, we just load into bambuslicer, auto-rotate and auto-arrange, enable any recommended supports, and print.

Item	Quantity	Notes
Base plate Top	1
Base plate Bottom	1
Drive motor mount	3
Servo wheel hub	3	Use Supports
RasPi case Top	1	2
RasPi case Bottom	1
Arducam base mount and Wrist mount	1	Compatible with this camera
Webcam base mount, gripper insert, and wrist mount	1	Compatible with this camera

Printing Parameters

The STL files provided are ready to print on many FDM printers. Below are the tested and suggested settings though others may work.

Material: PLA+
Nozzle Diameter and Precision: 0.2mm nozzle diameter at 0.2mm layer height
Infill Density: 15%
Printing Speed: 150 mm/s
If needed, upload G-code (slice file) to printer and print

Install LeRobot

On your Raspberry Pi:

1. Install Miniconda:

mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh

2. Restart shell

Copy paste in your shell: source ~/.bashrc or for Mac: source ~/.bash_profile or source ~/.zshrc if you're using zshell

3. Create and activate a fresh conda environment for lerobot

conda create -y -n lerobot python=3.10

Then activate your conda environment (do this each time you open a shell to use lerobot!):

conda activate lerobot

4. Clone LeRobot:

git clone https://github.com/huggingface/lerobot.git ~/lerobot

5. Install ffmpeg in your environment:

When using miniconda, install ffmpeg in your environment:

conda install ffmpeg -c conda-forge

6. Install LeRobot with dependencies for the feetech motors:

cd ~/lerobot && pip install -e ".[feetech]"

C. Install LeRobot on laptop

If you already have install LeRobot on your laptop you can skip this step, otherwise please follow along as we do the same steps we did on the Pi.

[!TIP] We use the Command Prompt (cmd) quite a lot. If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: Command line crash course

On your computer:

1. Install Miniconda:

2. Restart shell

Copy paste in your shell: source ~/.bashrc or for Mac: source ~/.bash_profile or source ~/.zshrc if you're using zshell

3. Create and activate a fresh conda environment for lerobot

conda create -y -n lerobot python=3.10

Then activate your conda environment (do this each time you open a shell to use lerobot!):

conda activate lerobot

4. Clone LeRobot:

git clone https://github.com/huggingface/lerobot.git ~/lerobot

5. Install ffmpeg in your environment:

When using miniconda, install ffmpeg in your environment:

conda install ffmpeg -c conda-forge

6. Install LeRobot with dependencies for the feetech motors:

cd ~/lerobot && pip install -e ".[feetech]"

Configure the motors

Find USB ports associated to your arms To find the correct ports for single motor, run the utility script twice:

python lerobot/scripts/find_motors_bus_port.py

Example output when identifying the port (e.g., /dev/tty.usbmodem575E0031751 on Mac, or possibly /dev/ttyACM0 on Linux):

Example output when identifying the port (e.g., /dev/tty.usbmodem575E0032081, or possibly /dev/ttyACM1 on Linux):

Troubleshooting: On Linux, you might need to give access to the USB ports by running:

sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1

Configure your motors

Plug your first motor and run this script to set its ID to 7-9. It will also set its present position to 2048, so expect your motor to rotate:

python lerobot/scripts/configure_motor.py \
  --port /dev/ttyACM0 \
  --brand feetech \
  --model sts3215 \
  --baudrate 1000000 \
  --ID 7

Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).

Then unplug your motor and plug the second motor and set its ID to 8 and 9.

python lerobot/scripts/configure_motor.py \
  --port /dev/ttyACM0 \
  --brand feetech \
  --model sts3215 \
  --baudrate 1000000 \
  --ID 8

Assembly

Assemble Lekiwi

You can refer official assemble tutorial.

Upon receiving the printed parts, all printed components are as shown below.

A. Attach the drive motor to the motor mount using 4 m2x5 tap screws.

Step 1	Step 2

B. Screw the drive motor mount onto the bottom base plate using 4 m3x16 machine screws.

tip

Remember the ID arrangement: 8 represents the rear wheel, while 7 and 9 correspond to the left front and right front wheels respectively.

Step 1	Step 2

C. Attach the wheel hub to the omniwheel.

Step 1 and Step 2: Remove the three screws.

Step 1	Step 2

Step 3 and Step 4: Attach the wheel hub to the omniwheel using 2 m4x16 machine screws.

Step 3	Step 4

D. Attach the servo horn to the wheel hub using 2 m3x16 machine screws.

Step 1	Step 2	Step 3

E. Attach the servo horn to the drive motor using 1 m3x6 machine screw.

Step 1	Step 2	Step 3

H. Add the servo driver and connect all circuits.

Step 1	Step 2	Step 3	Step 4

Step 5	Step 6	Step 7	Step 8

The Power IN connects directly to the power supply, like Step8, while the USB-C port provides 5V power to the Raspberry Pi.

For the additional 2-pin terminals (5V & 12V):

If using a 7.4V SO10x robotic arm, power the Servo Motors Board via the 5V output.
If using a 12V robotic arm, power the Servo Motors Board directly from the DC power splitter, like Step 8.

I. You can now proceed to mount the Raspberry Pi onto the vehicle's second-layer top plate. Before doing so, connect both the USB-C power cable and USB-C servo motor communication cable, then route them out through the top panel of the vehicle.

Step 1 Connect the power cable to your Raspberry Pi and route it through the center opening of the top panel.

Step 2 Among the three servo motors in the chassis, one servo has only one cable connected. If you need to install the SO10x robotic arm, please:Remove the ID1 cable from the robotic arm. Connect it to the chassis motor. Route it through the top panel as a reserved cable

Step 3 Now you can connect the USB-C from the servo driver board to the USB port on the Raspberry Pi.

J. Now you need to secure the Raspberry Pi and the remaining parts of the top plate using M3×16 screws.

K. Now you can install the USB camera and Follower Arm using M3x16 and M5×25 screws

And ensure both the servo control cable and USB camera are connected to the Raspberry Pi.

Update config

Both config files on the LeKiwi LeRobot and on the laptop should be the same. First we should find the Ip address of the Raspberry Pi of the mobile manipulator. This is the same Ip address used in SSH. We also need the usb port of the control board of the leader arm on the laptop and the port of the control board on LeKiwi. We can find these ports with the following script.

On Linux, you might need to give access to the USB ports by running:

sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1

IMPORTANTLY: Now that you have your ports of leader and follower arm and ip address of the mobile-so100, update the ip in Network configuration, port in leader_arms and port in lekiwi. In the LeKiwiRobotConfig file. Where you will find something like:

@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    # Network Configuration
    ip: str = "172.17.133.91"
    port: int = 5555
    video_port: int = 5556

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "mobile": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480),
            "mobile2": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480),
        }
    )

    calibration_dir: str = ".cache/calibration/lekiwi"

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/tty.usbmodem585A0077581",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )

    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM0",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                    "left_wheel": (7, "sts3215"),
                    "back_wheel": (8, "sts3215"),
                    "right_wheel": (9, "sts3215"),
                },
            ),
        }
    )

    teleop_keys: dict[str, str] = field(
        default_factory=lambda: {
            # Movement
            "forward": "w",
            "backward": "s",
            "left": "a",
            "right": "d",
            "rotate_left": "z",
            "rotate_right": "x",
            # Speed control
            "speed_up": "r",
            "speed_down": "f",
            # quit teleop
            "quit": "q",
        }
    )

    mock: bool = False

Wired version

For the wired LeKiwi version your configured IP address should refer to your own laptop (127.0.0.1), because leader arm and LeKiwi are in this case connected to own laptop. Below and example configuration for this wired setup:

@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    # Network Configuration
    ip: str = "127.0.0.1"
    port: int = 5555
    video_port: int = 5556

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "front": OpenCVCameraConfig(
                camera_index=0, fps=30, width=640, height=480, rotation=90
            ),
            "wrist": OpenCVCameraConfig(
                camera_index=1, fps=30, width=640, height=480, rotation=180
            ),
        }
    )

    calibration_dir: str = ".cache/calibration/lekiwi"

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/tty.usbmodem585A0077581",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )

    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/tty.usbmodem58760431061",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                    "left_wheel": (7, "sts3215"),
                    "back_wheel": (8, "sts3215"),
                    "right_wheel": (9, "sts3215"),
                },
            ),
        }
    )

    teleop_keys: dict[str, str] = field(
        default_factory=lambda: {
            # Movement
            "forward": "w",
            "backward": "s",
            "left": "a",
            "right": "d",
            "rotate_left": "z",
            "rotate_right": "x",
            # Speed control
            "speed_up": "r",
            "speed_down": "f",
            # quit teleop
            "quit": "q",
        }
    )

    mock: bool = False

Calibration

Now we have to calibrate the leader arm and the follower arm. The wheel motors don't have to be calibrated.

Calibrate follower arm (on mobile base)

Run the following commands on your computer to calibrate the leader robotic arm. Note: The images shown here are for the SO101 model.

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

LeaderMiddle Position	Leader Zero Position	Leader Rotated Position	Leader Rest Position

Now run the following commands on your Raspberry Pi to calibrate the follower arm on LeKiwi. Ignore its current placement on the table - normal calibration should be performed when mounted on the vehicle.

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

Follower Middle Position	Follower Zero Position	Follower Rotated Position	Follower Rest Position

F. Teleoperate

[!TIP] If you're using a Mac, you might need to give Terminal permission to access your keyboard. Go to System Preferences > Security & Privacy > Input Monitoring and check the box for Terminal.

To teleoperate SSH into your Raspberry Pi, and run conda activate lerobot and this script:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=remote_robot

Then on your laptop, also run conda activate lerobot and this script:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=teleoperate \
  --control.fps=30

NOTE: To visualize the data, enable --control.display_data=true. This streams the data using rerun. For the --control.type=remote_robot you will also need to set --control.viewer_ip and --control.viewer_port

You should see on your laptop something like this: [INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556. Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:

Speed Mode	Linear Speed (m/s)	Rotation Speed (deg/s)
Fast	0.4	90
Medium	0.25	60
Slow	0.1	30

Key	Action
W	Move forward
A	Move left
S	Move backward
D	Move right
Z	Turn left
X	Turn right
R	Increase speed
F	Decrease speed

[!TIP] If you use a different keyboard you can change the keys for each command in the LeKiwiRobotConfig.

Wired version

If you have the wired LeKiwi version please run all commands including both these teleoperation commands on your laptop.

Troubleshoot communication

If you are having trouble connecting to the Mobile SO100, follow these steps to diagnose and resolve the issue.

1. Verify IP Address Configuration

Make sure that the correct ip for the Pi is set in the configuration file. To check the Raspberry Pi's IP address, run (on the Pi command line):

hostname -I

2. Check if Pi is reachable from laptop/pc

Try pinging the Raspberry Pi from your laptop:

ping <your_pi_ip_address>

If the ping fails:

Ensure the Pi is powered on and connected to the same network.
Check if SSH is enabled on the Pi.

3. Try SSH connection

If you can't SSH into the Pi, it might not be properly connected. Use:

ssh <your_pi_user_name>@<your_pi_ip_address>

If you get a connection error:

Ensure SSH is enabled on the Pi by running:
```
sudo raspi-config
```
Then navigate to: Interfacing Options -> SSH and enable it.

4. Same config file

Make sure the configuration file on both your laptop/pc and the Raspberry Pi is the same.

G. Record a dataset

Once you're familiar with teleoperation, you can record your first dataset with LeKiwi.

To start the program on LeKiwi, SSH into your Raspberry Pi, and run conda activate lerobot and this script:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=remote_robot

If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the Hugging Face settings:

huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential

Store your Hugging Face repository name in a variable to run these commands:

HF_USER=$(huggingface-cli whoami | head -n 1)
echo $HF_USER

On your laptop then run this command to record 2 episodes and upload your dataset to the hub:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=record \
  --control.fps=30 \
  --control.single_task="Grasp a lego block and put it in the bin." \
  --control.repo_id=${HF_USER}/lekiwi_test \
  --control.tags='["tutorial"]' \
  --control.warmup_time_s=5 \
  --control.episode_time_s=30 \
  --control.reset_time_s=30 \
  --control.num_episodes=2 \
  --control.push_to_hub=true

Note: You can resume recording by adding --control.resume=true.

Wired version

If you have the wired LeKiwi version please run all commands including both these record dataset commands on your laptop.

H. Visualize a dataset

If you uploaded your dataset to the hub with --control.push_to_hub=true, you can visualize your dataset online by copy pasting your repo id given by:

echo ${HF_USER}/lekiwi_test

If you didn't upload with --control.push_to_hub=false, you can also visualize it locally with (a window can be opened in the browser http://127.0.0.1:9090 with the visualization tool):

python lerobot/scripts/visualize_dataset_html.py \
  --repo-id ${HF_USER}/lekiwi_test \
  --local-files-only 1

I. Replay an episode

Now try to replay the first episode on your robot:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=replay \
  --control.fps=30 \
  --control.repo_id=${HF_USER}/lekiwi_test \
  --control.episode=0

J. Train a policy

To train a policy to control your robot, use the python lerobot/scripts/train.py script. A few arguments are required. Here is an example command:

python lerobot/scripts/train.py \
  --dataset.repo_id=${HF_USER}/lekiwi_test \
  --policy.type=act \
  --output_dir=outputs/train/act_lekiwi_test \
  --job_name=act_lekiwi_test \
  --policy.device=cuda \
  --wandb.enable=true

Let's explain it:

We provided the dataset as argument with --dataset.repo_id=${HF_USER}/lekiwi_test.
We provided the policy with policy.type=act. This loads configurations from configuration_act.py. Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. laptop and phone) which have been saved in your dataset.
We provided policy.device=cuda since we are training on a Nvidia GPU, but you could use policy.device=mps to train on Apple silicon.
We provided wandb.enable=true to use Weights and Biases for visualizing training plots. This is optional but if you use it, make sure you are logged in by running wandb login.

Training should take several hours. You will find checkpoints in outputs/train/act_lekiwi_test/checkpoints.

K. Evaluate your policy

You can use the record function from lerobot/scripts/control_robot.py but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --control.type=record \
  --control.fps=30 \
  --control.single_task="Drive to the red block and pick it up" \
  --control.repo_id=${HF_USER}/eval_act_lekiwi_test \
  --control.tags='["tutorial"]' \
  --control.warmup_time_s=5 \
  --control.episode_time_s=30 \
  --control.reset_time_s=30 \
  --control.num_episodes=10 \
  --control.push_to_hub=true \
  --control.policy.path=outputs/train/act_lekiwi_test/checkpoints/last/pretrained_model

As you can see, it's almost the same command as previously used to record your training dataset. Two things changed:

There is an additional --control.policy.path argument which indicates the path to your policy checkpoint with (e.g. outputs/train/eval_act_lekiwi_test/checkpoints/last/pretrained_model). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. ${HF_USER}/act_lekiwi_test).
The name of dataset begins by eval to reflect that you are running inference (e.g. ${HF_USER}/eval_act_lekiwi_test).

Help 🙋‍

For hardware issues, please contact customer service. For usage questions, join Discord.

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How to use the Lekiwi in Lerobot

Introduction​

Main Features​

Specification​

Bill of Materials(BOM)​

Initial System Environment​

Table of Contents​

3D Printing Guide​

Parts​

Printing Parameters​

Install LeRobot​

1. Install Miniconda:​

2. Restart shell​

3. Create and activate a fresh conda environment for lerobot​

4. Clone LeRobot:​

5. Install ffmpeg in your environment:​

6. Install LeRobot with dependencies for the feetech motors:​

C. Install LeRobot on laptop​

1. Install Miniconda:​

2. Restart shell​

3. Create and activate a fresh conda environment for lerobot​

4. Clone LeRobot:​

5. Install ffmpeg in your environment:​

6. Install LeRobot with dependencies for the feetech motors:​

Configure the motors​

Assembly​

Update config​

Wired version​

Calibration​

Calibrate follower arm (on mobile base)​

F. Teleoperate

Wired version​

Troubleshoot communication​

1. Verify IP Address Configuration​

2. Check if Pi is reachable from laptop/pc​

3. Try SSH connection​

4. Same config file​

G. Record a dataset

Wired version​

H. Visualize a dataset

I. Replay an episode

J. Train a policy​

K. Evaluate your policy​

Help 🙋‍​

Tech Support & Product Discussion​

Introduction

Main Features

Specification

Bill of Materials(BOM)

Initial System Environment

Table of Contents

3D Printing Guide

Parts

Printing Parameters

Install LeRobot

1. Install Miniconda:

2. Restart shell

3. Create and activate a fresh conda environment for lerobot

4. Clone LeRobot:

5. Install ffmpeg in your environment:

6. Install LeRobot with dependencies for the feetech motors:

C. Install LeRobot on laptop

1. Install Miniconda:

2. Restart shell

3. Create and activate a fresh conda environment for lerobot

4. Clone LeRobot:

5. Install ffmpeg in your environment:

6. Install LeRobot with dependencies for the feetech motors:

Configure the motors

Assembly

Update config

Wired version

Calibration

Calibrate follower arm (on mobile base)

Wired version

Troubleshoot communication

1. Verify IP Address Configuration

2. Check if Pi is reachable from laptop/pc

3. Try SSH connection

4. Same config file

Wired version

J. Train a policy

K. Evaluate your policy

Help 🙋‍

Tech Support & Product Discussion