lerobot

Python lerobot compatible CLI for Node.js. Provides the same command-line interface as Python lerobot with identical behavior and syntax.

Installation

# 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.

# Interactive cable detection (always enabled, like Python lerobot)
lerobot find-port

This command follows Python lerobot's behavior exactly:

Lists initial ports
Prompts to unplug USB cable
Detects which port disappeared
Prompts to reconnect cable
Verifies port is restored

Calibrate

Calibrate robot motors and save calibration data to Hugging Face cache.

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.

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.

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

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

# 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

Automation Scripts

#!/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.js library for programmatic control
@lerobot/web - Browser library for web applications

License

Apache-2.0