packages/cli/README.md

lerobot

Command-line interface for robot control with @lerobot/node in Node.js (see @lerobot/web for the browser version).

Quick Start

# Install globally
npm install -g lerobot

# Or use directly with npx
npx lerobot@latest --help

Complete Workflow

# 1. Find your robot port
lerobot find-port
# Output: The port of this MotorsBus is '/dev/ttyUSB0'

# 2. Calibrate the robot
lerobot calibrate --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

# 3. Control the robot
lerobot teleoperate --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

# 4. Release motors when done
lerobot release-motors --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

Help

# See all available commands
lerobot --help

# Get help for specific commands
lerobot calibrate --help
lerobot teleoperate --help

Commands

find-port

Interactive port discovery using cable detection.

lerobot find-port

Process:

1. Lists current ports
2. Prompts to unplug USB cable
3. Detects which port disappeared
4. Prompts to reconnect cable

calibrate

Calibrate robot motors and save calibration data.

lerobot calibrate --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

Options:

• --robot.type - Robot type (e.g., so100_follower)
• --robot.port - Serial port (e.g., /dev/ttyUSB0, COM4)
• --robot.id - Robot identifier (default: default)
• --output - Custom output path for calibration file

Storage Location:

~/.cache/huggingface/lerobot/calibration/robots/{robot_type}/{robot_id}.json

teleoperate

Control robot through keyboard input.

lerobot teleoperate --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

Options:

• --robot.type - Robot type (e.g., so100_follower)
• --robot.port - Serial port (e.g., /dev/ttyUSB0, COM4)
• --robot.id - Robot identifier (default: default)
• --teleop.type - Teleoperator type (default: keyboard)
• --duration - Duration in seconds, 0 = unlimited (default: 0)

Keyboard Controls:

• w/s - Elbow flex/extend
• a/d - Wrist down/up
• q/e - Wrist roll left/right
• o/c - Gripper open/close
• Arrow keys - Shoulder lift/pan
• Ctrl+C - Stop and exit

release-motors

Release robot motors for manual positioning.

lerobot release-motors --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm

Options:

• --robot.type - Robot type (e.g., so100_follower)
• --robot.port - Serial port (e.g., /dev/ttyUSB0, COM4)
• --robot.id - Robot identifier (default: default)
• --motors - Specific motor IDs to release (comma-separated)