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# lerobot
Python lerobot compatible CLI for Node.js. Provides the same command-line interface as Python lerobot with identical behavior and syntax.
## Installation
```bash
# Use directly with npx (recommended)
npx lerobot find-port
# Or install globally
npm install -g lerobot
lerobot find-port
```
## Commands
### Find Port
Discover robot port with interactive cable detection. Matches Python lerobot's `find_port.py` exactly.
```bash
# Interactive cable detection (always enabled, like Python lerobot)
lerobot find-port
```
This command follows Python lerobot's behavior exactly:
1. Lists initial ports
2. Prompts to unplug USB cable
3. Detects which port disappeared
4. Prompts to reconnect cable
5. Verifies port is restored
### Calibrate
Calibrate robot motors and save calibration data to Hugging Face cache.
```bash
lerobot calibrate \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_follower_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
**Compatible with:** `python -m lerobot calibrate`
### Teleoperate
Control robot through keyboard teleoperation.
```bash
lerobot teleoperate \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_follower_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`)
- `--teleop.stepSize` - Step size for keyboard control (default: `25`)
- `--duration` - Duration in seconds, 0 = unlimited (default: `0`)
**Controls:**
- `w/s` - Motor 1 up/down
- `a/d` - Motor 2 left/right
- `q/e` - Motor 3 up/down
- `r/f` - Motor 4 forward/back
- `t/g` - Motor 5 up/down
- `y/h` - Motor 6 open/close
- `Ctrl+C` - Stop and exit
**Compatible with:** `python -m lerobot teleoperate`
### Release Motors
Release robot motors for manual movement.
```bash
lerobot release-motors \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_follower_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)
**Compatible with:** `python -m lerobot release-motors`
## Python lerobot Compatibility
This CLI provides 100% compatible commands with Python lerobot:
| Python lerobot | Node.js lerobot | Status |
| ---------------------------------- | ---------------------------- | ------------- |
| `python -m lerobot find_port` | `npx lerobot find-port` | ✅ Compatible |
| `python -m lerobot calibrate` | `npx lerobot calibrate` | ✅ Compatible |
| `python -m lerobot teleoperate` | `npx lerobot teleoperate` | ✅ Compatible |
| `python -m lerobot release-motors` | `npx lerobot release-motors` | ✅ Compatible |
### Calibration Data Compatibility
Calibration files are saved to the same location as Python lerobot:
```
~/.cache/huggingface/lerobot/calibration/robots/{robot_type}/{robot_id}.json
```
This ensures calibration data is shared between Python and Node.js implementations.
## Examples
### Complete Workflow
```bash
# 1. Find your robot (interactive mode)
npx lerobot find-port --interactive
# Output: Detected port: /dev/ttyUSB0
# 2. Calibrate the robot
npx lerobot calibrate \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_arm
# 3. Control the robot
npx lerobot teleoperate \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_arm
# 4. Release motors when done
npx lerobot release-motors \
--robot.type=so100_follower \
--robot.port=/dev/ttyUSB0 \
--robot.id=my_arm
```
### Automation Scripts
```bash
#!/bin/bash
# Automated calibration script
ROBOT_TYPE="so100_follower"
ROBOT_PORT="/dev/ttyUSB0"
ROBOT_ID="production_arm_1"
echo "Starting automated calibration..."
npx lerobot calibrate \
--robot.type=$ROBOT_TYPE \
--robot.port=$ROBOT_PORT \
--robot.id=$ROBOT_ID
echo "Calibration complete. Starting teleoperation..."
npx lerobot teleoperate \
--robot.type=$ROBOT_TYPE \
--robot.port=$ROBOT_PORT \
--robot.id=$ROBOT_ID \
--duration=60 # Run for 60 seconds
```
## Requirements
- Node.js 18+
- Compatible with Windows, macOS, and Linux
- Same hardware requirements as Python lerobot
## Related Packages
- **[@lerobot/node](../node/)** - Node.js library for programmatic control
- **[@lerobot/web](../web/)** - Browser library for web applications
## License
Apache-2.0
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