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lerobot

Control robots with Node.js (serialport) on the CLI, inspired by LeRobot

Install 

# Use directly with npx
npx lerobot@latest 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.

npx lerobot@latest 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.

npx lerobot@latest 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

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.

Teleoperate

Control robot through keyboard teleoperation.

npx lerobot@latest 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.

npx lerobot@latest 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)

Note: This command is specific to our Node.js implementation for convenient motor management.

Examples

Complete Workflow 

# 1. Find your robot
npx lerobot@latest find-port
# Output: Detected port: /dev/ttyUSB0

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

# 3. Control the robot
npx lerobot@latest teleoperate --robot.type=so100_follower --robot.port=/dev/ttyUSB0 --robot.id=my_arm --teleop.type=keyboard

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

Related Packages

  • @lerobot/node - Node.js library based on serialport
  • @lerobot/web - Browser library for web applications based on WebSerial and WebUSB