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How to use the SO-ARM100 and SO-ARM101 robotic arm in the latest version of Lerobot

tip

This tutorial maintenance has been updated to the latest version of lerobot, if you want to refer to the tutorial of the previous version, please click here.

Introduction​

The SO-10xARM is a fully open-source robotic arm project launched by TheRobotStudio. It includes the follower arm and the leader robotic arm, and also provides detailed 3D printing files and operation guides. LeRobot is committed to providing models, datasets and tools for real-world robotics in PyTorch. Its aim is to reduce the entry barrier of robotics, enabling everyone to contribute and benefit from sharing datasets and pretrained models. LeRobot integrates cutting-edge methodologies validated for real-world application, centering on imitation learning. It has furnished a suite of pre-trained models, datasets featuring human-gathered demonstrations, and simulation environments, enabling users to commence without the necessity of robot assembly. In the forthcoming weeks, the intention is to augment support for real-world robotics on the most cost-effective and competent robots presently accessible.

Projects Introduction​

The SO-ARM10x and reComputer Jetson AI intelligent robot kit seamlessly combine high-precision robotic arm control with a powerful AI computing platform, providing a comprehensive robot development solution. This kit is based on the Jetson Orin or AGX Orin platform, combined with the SO-ARM10x robotic arm and the LeRobot AI framework, offering users an intelligent robot system applicable to multiple scenarios such as education, research, and industrial automation. This wiki provides the assembly and debugging tutorial for the SO ARM10x and realizes data collection and training within the Lerobot framework.

Get One Now 🖱️

Main Features​

  1. Open-source and low-cost: It is an open-source, low-cost robotic arm solution from TheRobotStudio
  2. Integration with LeRobot: Designed for integration with LeRobot platform
  3. 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.
  4. Compatible with Nvidia: Deploy this arm kit with reComputer Mini J4012 Orin NX 16 GB.
  5. 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.

What's news：​

  • Wiring optimization: Compared to SO-ARM100, SO-ARM101 features improved wiring that prevents disconnection issues previously seen at joint 3. The new wiring design also no longer limits the range of motion of the joints.
  • Different gear ratios for the leader arm: The leader arm now uses motors with optimized gear ratios, improving performance and eliminating the need for external gearboxes.
  • New functionality support: The leader arm can now follow the follower arm in real-time, which is crucial for the upcoming learning policy, where a human can intervene and correct the robot’s actions.
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, in addition to checking the FAQ section at the end of this tutorial, please promptly report the issue to the LeRobot platform or the LeRobot Discord channel.

Specification​

TypeSO-ARM100SO-ARM101
Arm KitArm Kit ProArm KitArm Kit Pro
Leader Arm12x ST-3215- C001 (7.4V) motors with 1:345 gear ratio for all joints12x ST-3215-C018/ST-3215-C047 (12V) motors with 1:345 gear ratio for all joints

1x ST-3215- C001 (7.4V) motor with 1:345 gear ratio for joint 2 only
2x ST-3215-C044 (7.4V) motors with 1:191 gear ratio for joints 1 and 3
3x ST-3215-C046 (7.4V) motors with 1:147 gear ratio for joints 4, 5, and gripper (joint 6)

Follower ArmSame as SO-ARM100
Power Supply5.5 mm × 2.1 mm DC 5 V 4 A5.5 mm × 2.1 mm DC 12 V 2 A5.5 mm × 2.1 mm DC 5 V 4 A

5.5 mm × 2.1 mm DC 12 V 2 A (Follower Arm)
5.5 mm × 2.1 mm DC 5 V 4 A (Leader Arm)

Angle Sensor12-bit magnetic encoder
Recommended Operating Temperature0 °C to 40 °C
CommunicationUART
Control MethodPC
danger

If you purchase the Arm Kit version, both power supplies are 5V. If you purchase the Arm Kit Pro version, please use the 5V power supply for the calibration and every step of the Leader robotic arm, and the 12V power supply for the calibration and every step of the Follower robotic arm.

Bill of Materials(BOM)​

PartAmountIncluded
Servo Motos12✅
Motor Control Board2✅
USB-C Cable 2 pcs1✅
Power Supply22✅
Table Clamp4✅
3D printed parts of the arm1Option

Initial System Environment​

For Ubuntu x86:

  • Ubuntu 22.04
  • CUDA 12+
  • Python 3.10
  • Torch 2.6+

For Jetson Orin:

  • Jetson JetPack 6.0 and 6.1, not support 6.1
  • Python 3.10
  • Torch 2.3+

Table of Contents​

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​

caution

Following the official update of SO101, SO100 will no longer support it and the source files will be deleted as per the official, but the source files can still be found in our Makerworld. However, for users who have previously purchased SO100, the tutorials and installation methods remain compatible. The print of SO101 is fully compatible with the motor kit installation of SO100.

Step 1: Choose a printer​

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: 0.4mm nozzle diameter at 0.2mm layer height or 0.6mm nozzle at 0.4mm layer height.
  • Infill Density: 15%

Step 2: Set up the printer​

  • Ensure that the printer is calibrated and the bed level is correctly set using the printer specific instructions.
  • Clean the print bed, making sure it is free from dust, or grease. If cleaning the bed using water, or other liquid, dry the bed.
  • If your printer recommends it, use a standard glue stick and apply a thin, even layer of glue across the print area of the bed. Avoid clumping or uneven application.
  • Load the printer filament using printer specific instructions.
  • Ensure the printer settings match the ones suggested above (most printers have multiple settings so choose the ones that most closely match).
  • Set for supports everywhere but ignore slopes greater than 45 degrees to the horizontal.
  • There should be no supports in the screw holes with horizontal axes.

Step 3: Print the parts​

All the parts for the leader or follower are for easy 3D printing already contained in a single file, correctly orientated for z upwards to minimize supports.

  • For printer bed sizes of 220mmx220mm (such as the Ender), print these files:

  • For printer bed sizes of 205mm x 250mm (such as the Prusa/Up):

Install LeRobot​

Environments such as pytorch and torchvision need to be installed based on your CUDA.

  1. Install Miniconda: For Jetson:
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh
chmod +x Miniconda3-latest-Linux-aarch64.sh
./Miniconda3-latest-Linux-aarch64.sh
source ~/.bashrc

Or, For X86 Ubuntu 22.04:

mkdir -p ~/miniconda3
cd miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
source ~/miniconda3/bin/activate
conda init --all
  1. Create and activate a fresh conda environment for lerobot
conda create -y -n lerobot python=3.10 && conda activate lerobot
  1. Clone Lerobot:
git clone https://github.com/Seeed-Projects/lerobot.git ~/lerobot
  1. When using miniconda, install ffmpeg in your environment:
conda install ffmpeg -c conda-forge
tip

This usually installs ffmpeg 7.X for your platform compiled with the libsvtav1 encoder. If libsvtav1 is not supported (check supported encoders with ffmpeg -encoders), you can:

  • [On any platform] Explicitly install ffmpeg 7.X using:
conda install ffmpeg=7.1.1 -c conda-forge
  • [On Linux only] Install ffmpeg build dependencies and compile ffmpeg from source with libsvtav1, and make sure you use the corresponding ffmpeg binary to your install with which ffmpeg.

If you encounter an error like this, you can use this command too.

  1. Install LeRobot with dependencies for the feetech motors:
cd ~/lerobot && pip install -e ".[feetech]"

For Jetson Jetpack 6.0+ devices (please make sure to install Pytorch-gpu and Torchvision from step 5 before executing this step):

conda install -y -c conda-forge "opencv>=4.10.0.84"  # Install OpenCV and other dependencies through conda, this step is only for Jetson Jetpack 6.0+
conda remove opencv   # Uninstall OpenCV 
pip3 install opencv-python==4.10.0.84  # Then install opencv-python via pip3
conda install -y -c conda-forge ffmpeg
conda uninstall numpy
pip3 install numpy==1.26.0  # This should match torchvision
  1. Check Pytorch and Torchvision

Since installing the lerobot environment via pip will uninstall the original Pytorch and Torchvision and install the CPU versions of Pytorch and Torchvision, you need to perform a check in Python.

import torch
print(torch.cuda.is_available())

If the printed result is False, you need to reinstall Pytorch and Torchvision according to the official website tutorial.

If you are using a Jetson device, install Pytorch and Torchvision according to this tutorial.

Configure the motors​

The servo calibration and initialization process for SO-ARM101 is the same as that of SO-ARM100 in terms of both method and code. However, please note that the gear ratios for the first three joints of the SO-ARM101 Leader Arm differ from those of SO-ARM100, so it’s important to distinguish and calibrate them carefully.

To configure the motors designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower F or for the leader L and it's ID from 1 to 6. We use F1–F6 to represent joints 1 to 6 of the Follower Arm, and L1–L6 to represent joints 1 to 6 of the Leader Arm. The corresponding servo model, joint assignments, and gear ratio details are as follows:

Servo ModelGear RatioCorresponding Joints
ST-3215-C044(7.4V)1:191L1
ST-3215-C001(7.4V)1:345L2
ST-3215-C044(7.4V)1:191L3
ST-3215-C046(7.4V)1:147L4–L6
ST-3215-C001(7.4V) / C018(12V) / C047(12V)1:345F1–F6
danger

You now should plug the 5V or 12V power supply to the motor bus. 5V for the STS3215 7.4V motors and 12V for the STS3215 12V motors. Note that the leader arm always uses the 7.4V motors, so watch out that you plug in the right power supply if you have 12V and 7.4V motors, otherwise you might burn your motors! Now, connect the motor bus to your computer via USB. Note that the USB doesn't provide any power, and both the power supply and USB have to be plugged in.

The following are the code calibration steps, please calibrate with the reference wiring servo in the picture above

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

python -m lerobot.find_port

Example output:

Finding all available ports for the MotorBus.
['/dev/ttyACM0', '/dev/ttyACM1']
Remove the usb cable from your MotorsBus and press Enter when done.

[...Disconnect corresponding leader or follower arm and press Enter...]

The port of this MotorsBus is /dev/ttyACM1
Reconnect the USB cable.
tip

Remember to remove the usb, otherwise the interface will not be detected.

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

Example output when identifying the follower arm's port (e.g., /dev/tty.usbmodem575E0032081, or possibly /dev/ttyACM1 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

danger

Please use a 5V power supply for calibrating Leader motors (ST-3215-C046, C044, 001).

Leader Arm Joint 6 CalibrationLeader Arm Joint 5 CalibrationLeader Arm Joint 4 CalibrationLeader Arm Joint 3 CalibrationLeader Arm Joint 2 CalibrationLeader Arm Joint 1 Calibration
fig1fig2fig3fig4fig5fig6
danger

If you buy the Arm Kit version (ST-3215-C001), use a 5V power supply. If you buy the Arm Kit Pro version, please use a 12V power supply to calibrate the servo (ST-3215-C047/ST-3215-C018).

Follower Arm Joint 6 CalibrationFollower Arm Joint 5 CalibrationFollower Arm Joint 4 CalibrationFollower Arm Joint 3 CalibrationFollower Arm Joint 2 CalibrationFollower Arm Joint 1 Calibration
fig1fig2fig3fig4fig5fig6
tip

Again, please make sure that the servo joint IDs and gear ratios strictly correspond to those of the SO-ARM101.

Connect the usb cable from your computer and the power supply to the follower arm’s controller board. Then, run the following command.

python -m lerobot.setup_motors \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0  # <- paste here the port found at previous step

You should see the following instruction.

Connect the controller board to the 'gripper' motor only and press enter.

As instructed, plug the gripper’s motor. Make sure it’s the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press [Enter], the script will automatically set the id and baudrate for that motor.

You should then see the following message:

'gripper' motor id set to 6

Followed by the next instruction:

Connect the controller board to the 'wrist_roll' motor only and press enter.

You can disconnect the 3-pin cable from the controller board, but you can leave it connected to the gripper motor on the other end, as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn’t connected to any other one.

caution

Repeat the operation for each motor as instructed.

Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board.

When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the ‘shoulder pan’ with id=1) to the controller board, which can now be attached to the base of the arm.

Do the same steps for the leader arm.

python -m lerobot.setup_motors \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0  # <- paste here the port found at previous step

Assembly​

tip
  • The dual-arm assembly process of SO-ARM101 is the same as that of SO-ARM100. The only differences are the addition of cable clips on SO-ARM101 and the different gear ratios of the joint servos on the Leader Arm. So both SO100 and SO101 can be installed by referring to the following content
  • Before assembly, please check your motor model and reduction ratio again. If you have purchased SO100, you can ignore this step. If you have purchased SO101, please check the following table to distinguish F1 to F6 and L1 to L6.
Servo ModelGear RatioCorresponding Joints
ST-3215-C044(7.4V)1:191L1
ST-3215-C001(7.4V)1:345L2
ST-3215-C044(7.4V)1:191L3
ST-3215-C046(7.4V)1:147L4–L6
ST-3215-C001(7.4V) / C018(12V) / C047(12V)1:345F1–F6
danger

If you purchased the SO101 Arm Kit Standard Edition, all power supplies are 5V. If you purchased the SO101 Arm Kit Pro Edition, the Leader Arm should be calibrated and operated at every step using a 5V power supply, while the Follower Arm should be calibrated and operated at every step using a 12V power supply.

Assemble Leader Arm

Step 1Step 2Step 3Step 4Step 5Step 6
fig1fig2fig3fig4fig5fig6
Step 7Step 8Step 9Step 10Step 11Step 12
fig1fig2fig3fig4fig5fig6
Step 13Step 14Step 15Step 16Step 17Step 18
fig1fig2fig3fig4fig5fig6
Step 19Step 20
fig1fig2

Assemble Follower Arm

tip
  • The steps for assembling the Follower Arm are generally the same as those for the Leader Arm. The only difference lies in the installation method of the end-effector (gripper and handle) after Step 12.
Step 1Step 2Step 3Step 4Step 5Step 6
fig1fig2fig3fig4fig5fig6
Step 7Step 8Step 9Step 10Step 11Step 12
fig1fig2fig3fig4fig5fig6
Step 13Step 14Step 15Step 16Step 17
fig1fig2fig3fig4fig5

Calibrate​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

danger

If you purchased the SO101 Arm Kit Standard Edition, all power supplies are 5V. If you purchased the SO101 Arm Kit Pro Edition, the Leader Arm should be calibrated and operated at every step using a 5V power supply, while the Follower Arm should be calibrated and operated at every step using a 12V power supply.

Next, you need to connect the power supply and data cable to your SO-10x robot for calibration to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-10x robot to work on another. If you need to recalibrate the robotic arm, delete the files under ~/.cache/huggingface/lerobot/calibration/robots or ~/.cache/huggingface/lerobot/calibration/teleoperators and recalibrate the robotic arm. Otherwise, an error prompt will appear. The calibration information for the robotic arm will be stored in the JSON files under this directory.

Manual calibration of follower arm

Please connect the interfaces of the 6 robot servos via a 3-pin cable and connect the chassis servo to the servo drive plate, then run the following command or API example to calibrate the robot arm:

Interface permissions are given first

sudo chmod 666 /dev/ttyACM*

Then calibrate the follower arm

python -m lerobot.calibrate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_awesome_follower_arm

The video below shows how to perform the calibration. First you need to move the robot to the position where all joints are in the middle of their ranges. Then after pressing enter you have to move each joint through its full range of motion.

Manual calibration of leader arm

Do the same steps to calibrate the leader arm, run the following command or API example:

python -m lerobot.calibrate \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm

Teleoperate​

Simple teleop Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras):

Note that the id associated with a robot is used to store the calibration file. It’s important to use the same id when teleoperating, recording, and evaluating when using the same setup.

sudo chmod 666 /dev/ttyACM*
python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm

The teleoperate command will automatically:

  1. Identify any missing calibrations and initiate the calibration procedure.
  2. Connect the robot and teleop device and start teleoperation.

Add cameras​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

To instantiate a camera, you need a camera identifier. This identifier might change if you reboot your computer or re-plug your camera, a behavior mostly dependant on your operating system.

To find the camera indices of the cameras plugged into your system, run the following script:

python -m lerobot.find_cameras opencv # or realsense for Intel Realsense cameras

The terminal will print out the following information.

--- Detected Cameras ---
Camera #0:
  Name: OpenCV Camera @ 0
  Type: OpenCV
  Id: 0
  Backend api: AVFOUNDATION
  Default stream profile:
    Format: 16.0
    Width: 1920
    Height: 1080
    Fps: 15.0
--------------------
(more cameras ...)

You can find the pictures taken by each camera in the outputs/captured_images directory.

warning

When using Intel RealSense cameras in , you could get this error: , this can be solved by running the same command with permissions. Note that using RealSense cameras in is unstable.macOSError finding RealSense cameras: failed to set power statesudomacOS.

Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.

python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm \
    --display_data=true

If you have more cameras, you can change --robot.cameras to add cameras. You should note the format of the index_or_path, which is determined by the last digit of the camera ID output by python -m lerobot.find_cameras opencv.

For example, you want to add a side camera:

python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm \
    --display_data=true
tip

If you find bug like this.

You can downgrade the rerun version to resolve the issue.

pip3 install rerun-sdk==0.23

Record the dataset​

  • If you want to save the dataset locally, you can run it directly:
python -m lerobot.record \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm \
    --display_data=true \
    --dataset.repo_id=seeedstudio123/test \
    --dataset.num_episodes=5 \
    --dataset.single_task="Grab the black cube" \
    --dataset.push_to_hub=false \
    --dataset.episode_time_s=30 \
    --dataset.reset_time_s=30

Among them, repo_id can be modified customarily, and push_to_hub=false. Finally, the dataset will be saved in the ~/.cache/huggingface/lerobot directory in the home folder, where the aforementioned seeedstudio123/test folder will be created.

  • 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

Record 5 episodes and upload your dataset to the hub:

python -m lerobot.record \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM0 \
    --teleop.id=my_awesome_leader_arm \
    --display_data=true \
    --dataset.repo_id=${HF_USER}/record-test \
    --dataset.num_episodes=5 \
    --dataset.single_task="Grab the black cube" \
    --dataset.push_to_hub=true \
    --dataset.episode_time_s=30 \
    --dataset.reset_time_s=30

You will see a lot of lines appearing like this one:

INFO 2024-08-10 15:02:58 ol_robot.py:219 dt:33.34 (30.0hz) dtRlead: 5.06 (197.5hz) dtWfoll: 0.25 (3963.7hz) dtRfoll: 6.22 (160.7hz) dtRlaptop: 32.57 (30.7hz) dtRphone: 33.84 (29.5hz)

Parameter Explanations

  • episode-time-s: It represents the time for collecting data each time.
  • reset-time-s: It is the preparation time between each data collection.
  • num-episodes: It indicates how many groups of data are expected to be collected.
  • push-to-hub: It determines whether to upload the data to the HuggingFace Hub.
tip

  • "If you want to save the data locally (--dataset.push_to_hub=false), replace --dataset.repo_id=${HF_USER}/so101_test with a custom local folder name, such as --dataset.repo_id=seeed_123/so101_test. It will then be stored in the system's home directory at ~/.cache/huggingface/lerobot."

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

  • Press right arrow → at any time during episode recording to early stop and go to resetting. Same during resetting, to early stop and to go to the next episode recording.

  • Press left arrow ← at any time during episode recording or resetting to early stop, cancel the current episode, and re-record it.

  • Press escape ESC at any time during episode recording to end the session early and go straight to video encoding and dataset uploading.

  • Note: Checkpoints are automatically created during recording. If an issue occurs, you can resume by re-running the same command with --resume=true. To start recording from scratch, manually delete the dataset directory.

  • Once you're comfortable with data recording, you can create a larger dataset for training. A good starting task is grasping an object at different locations and placing it in a bin. We suggest recording at least 50 episodes, with 10 episodes per location. Keep the cameras fixed and maintain consistent grasping behavior throughout the recordings. Also make sure the object you are manipulating is visible on the camera's. A good rule of thumb is you should be able to do the task yourself by only looking at the camera images.

  • In the following sections, you’ll train your neural network. After achieving reliable grasping performance, you can start introducing more variations during data collection, such as additional grasp locations, different grasping techniques, and altering camera positions.

  • Avoid adding too much variation too quickly, as it may hinder your results.

  • On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the $DISPLAY environment variable. See pynput limitations.

Visualize the dataset​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

echo ${HF_USER}/so101_test

If you didn't upload with --dataset.push_to_hub=false, you can also visualize it locally with:

python -m lerobot.scripts.visualize_dataset_html \
  --repo-id ${HF_USER}/so101_test \

If you upload with --dataset.push_to_hub=false, you can also visualize it locally with:

python -m lerobot.scripts.visualize_dataset_html \
  --repo-id seeed_123/so101_test \

Here, seeed_123 is the custom repo_id name defined when collecting data.

Replay an episode​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

Now try to replay the first episode on your robot:

python -m lerobot.replay \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM1 \
    --robot.id=my_awesome_follower_arm \
    --dataset.repo_id=${HF_USER}/record-test \
    --dataset.episode=0

Train a policy​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

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

python -m lerobot.scripts.train \
  --dataset.repo_id=${HF_USER}/so101_test \
  --policy.type=act \
  --output_dir=outputs/train/act_so101_test \
  --job_name=act_so101_test \
  --policy.device=cuda \
  --wandb.enable=false \
  --steps=300000

If you want to train on a local dataset, make sure the repo_id matches the one used during data collection and add --policy.push_to_hub=False.

python -m lerobot.scripts.train \
  --dataset.repo_id=seeedstudio123/test \
  --policy.type=act \
  --output_dir=outputs/train/act_so101_test \
  --job_name=act_so101_test \
  --policy.device=cuda \
  --wandb.enable=false \
  --policy.push_to_hub=false\
  --steps=300000

Let's explain it:

  • Dataset specification: We provide the dataset via the parameter --dataset.repo_id=${HF_USER}/so101_test.
  • Training steps: We modify the number of training steps using --steps=300000. The algorithm defaults to 800000 steps, and you can adjust it based on the difficulty of your task and by observing the loss during training.
  • Policy type: We provide the policy with policy.type=act. Similarly, you can switch between policies such as [act, diffusion, pi0, pi0fast, pi0fast, sac, smolvla]., which will load the configuration from configuration_act.py. Importantly, this policy will automatically adapt to your robot's (e.g., laptop and phone) motor states, motor actions, and the number of cameras, as this information is already stored in your dataset.
  • Device selection: We provide policy.device=cuda because we are training on an Nvidia GPU, but you can use policy.device=mps for training on Apple Silicon.
  • Visualization tool: We provide wandb.enable=true to visualize training charts using Weights and Biases. This is optional, but if you use it, ensure you have logged in by running wandb login.

If you encounter the following error:

Try running the following command to resolve it:

pip install datasets==2.19

Training should take several hours. You will find checkpoints in outputs/train/act_so100_test/checkpoints.

To resume training from a checkpoint, below is an example command to resume from last checkpoint of the act_so101_test policy:

python -m lerobot.scripts.train \
  --config_path=outputs/train/act_so101_test/checkpoints/last/pretrained_model/train_config.json \
  --resume=true

Upload policy checkpoints

Once training is done, upload the latest checkpoint with:

huggingface-cli upload ${HF_USER}/act_so101_test \
  outputs/train/act_so101_test/checkpoints/last/pretrained_model

You can also upload intermediate checkpoints with:

CKPT=010000
huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \
  outputs/train/act_so101_test/checkpoints/${CKPT}/pretrained_model

Evaluate your policy​

tip

The SO100 and SO101 codes are compatible. Users of SO100 can directly utilize SO101's parameters and code for operation.

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

python -m lerobot.record  \
  --robot.type=so100_follower \
  --robot.port=/dev/ttyACM1 \
  --robot.cameras="{ up: {type: opencv, index_or_path: /dev/video10, width: 640, height: 480, fps: 30}, side: {type: intelrealsense, serial_number_or_name: 233522074606, width: 640, height: 480, fps: 30}}" \
  --robot.id=my_awesome_follower_arm \
  --display_data=false \
  --dataset.repo_id=${HF_USER}/eval_so100 \
  --dataset.single_task="Put lego brick into the transparent box" \
  --policy.path=${HF_USER}/my_policy

such as:

python -m lerobot.record  \
  --robot.type=so101_follower \
  --robot.port=/dev/ttyACM1 \
  --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30},   side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
  --robot.id=my_awesome_follower_arm \
  --display_data=false \
  --dataset.repo_id=seeed/eval_test123 \
  --dataset.single_task="Put lego brick into the transparent box" \
  --policy.path=outputs/train/act_so101_test/checkpoints/last/pretrained_model

  1. The --policy.path parameter indicates the path to the weight file of your policy training results (e.g., outputs/train/act_so101_test/checkpoints/last/pretrained_model). If you upload the model training result weight file to Hub, you can also use the model repository (e.g., ${HF_USER}/act_so100_test).

  2. The dataset name dataset.repo_id starts with eval_. This operation will separately record videos and data during evaluation, which will be saved in the folder starting with eval_, such as seeed/eval_test123.

  3. If you encounter File exists: 'home/xxxx/.cache/huggingface/lerobot/xxxxx/seeed/eval_xxxx' during the evaluation phase, please delete the folder starting with eval_ first and then run the program again.

  4. When encountering mean is infinity. You should either initialize with stats as an argument or use a pretrained model, please note that keywords like front and side in the --robot.cameras parameter must be strictly consistent with those used when collecting the dataset.

FAQ​

  • If you are following this documentation/tutorial, please git clone the recommended GitHub repository https://github.com/Seeed-Projects/lerobot.git. The repository recommended in this documentation is a verified stable version; the official Lerobot repository is continuously updated to the latest version, which may cause unforeseen issues such as different dataset versions, different commands, etc.

  • If you encounter the following error when calibrating servo IDs:

    `Motor ‘gripper’ was not found, Make sure it is connected`

    Please carefully check whether the communication cable is properly connected to the servo and whether the power supply is providing the correct voltage.

  • If you encounter:

    Could not connect on port "/dev/ttyACM0"

    And you can see ACM0 exists when running ls /dev/ttyACM*, it means you forgot to grant serial port permissions. Enter sudo chmod 666 /dev/ttyACM* in the terminal to fix it.

  • If you encounter:

    No valid stream found in input file. Is -1 of the desired media type?

    Please install ffmpeg 7.1.1 using conda install ffmpeg=7.1.1 -c conda-forge.

  • If you encounter:

    ConnectionError: Failed to sync read 'Present_Position' on ids=[1,2,3,4,5,6] after 1 tries. [TxRxResult] There is no status packet!

    You need to check whether the robotic arm on the corresponding port is powered on, and whether the data cables of the bus servos are loose or disconnected. If a servo's light is not on, it means the cable of the previous servo is loose.

  • If you encounter the following error when calibrating the robotic arm:

    Magnitude 30841 exceeds 2047 (max for sign_bit_index=11)

    Power off and restart the robotic arm, then try calibrating again. This method can also be used if the MAX angle reaches a value of tens of thousands during calibration. If this doesn't work, you need to recalibrate the corresponding servos, including median calibration and ID writing.

  • If you encounter during the evaluation phase:

    File exists: 'home/xxxx/.cache/huggingface/lerobot/xxxxx/seeed/eval_xxxx'

    Please delete the folder starting with eval_ first and then run the program again.

  • If you encounter during the evaluation phase:

    `mean` is infinity. You should either initialize with `stats` as an argument or use a pretrained model

    Please note that keywords like "front" and "side" in the --robot.cameras parameter must be strictly consistent with those used when collecting the dataset.

  • If you have repaired or replaced parts of the robotic arm, please completely delete the files under ~/.cache/huggingface/lerobot/calibration/robots or ~/.cache/huggingface/lerobot/calibration/teleoperators and recalibrate the robotic arm. Otherwise, error messages may appear, as calibration information is stored in JSON files in these directories.

  • Training ACT on 50 sets of data takes approximately 6 hours on a laptop with an RTX 3060 (8GB), and about 2-3 hours on computers with RTX 4090 or A100 GPUs.

  • During data collection, ensure the camera position, angle, and ambient lighting are stable. Reduce the amount of unstable background and pedestrians captured by the camera, as excessive changes in the deployment environment may cause the robotic arm to fail to grasp properly.

  • For the data collection command, ensure the num-episodes parameter is set to collect sufficient data. Do not manually pause midway, as the mean and variance of the data are calculated only after data collection is complete, which are necessary for training.

  • If the program indicates it cannot read image data from the USB camera, ensure the USB camera is not connected through a hub. The USB camera must be directly connected to the device to ensure fast image transmission speed.

  • If you find bug like AttributeError: module 'rerun' has no attribute 'scalar'. Did you mean: 'scalars'?, You can downgrade the rerun version to resolve the issue.

pip3 install rerun-sdk==0.23
tip

If you encounter software issues or environment dependency problems that cannot be resolved, in addition to checking the FAQ section at the end of this tutorial, please promptly report the issue to the LeRobot platform or the LeRobot Discord channel.

Citation​

中文文档

TheRobotStudio Project: SO-ARM10x

Huggingface Project: Lerobot

Dnsty: Jetson Containers

Jetson AI Lab

Diffusion Policy

ACT or ALOHA

TDMPC

VQ-BeT

Tech Support & Product Discussion​

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