SO-100 + LeRobot: my pre-run playbook

A short, strict checklist: ports, IDs, calibration, recording, replay, and baseline validation before touching GR00T/π0.

Why this is strict

The most expensive robotics failures are process failures: skipped calibration, unstable ports, noisy demos. This playbook saves days.

Full story and thesis numbers: I Built an SO-100 and Tried to Make It Smart.

1) References (so I do not guess)

LeRobot docs: https://huggingface.co/docs/lerobot/index
SO-100 docs: https://huggingface.co/docs/lerobot/so100
GR00T in LeRobot (N1.5): https://huggingface.co/docs/lerobot/main/groot
GR00T N1.6-3B model card: https://huggingface.co/nvidia/GR00T-N1.6-3B

SO-100 leader-follower — Temporary image from the open-source repo (I will replace it later)

2) Pre-flight (every session)

12V power and cables: no loose connectors;
motors respond;
calibration is up to date;
camera stream is stable.

If any of these is red, I do not record data.

3) Ports and motor setup

lerobot-find-port
 
lerobot-setup-motors \
  --robot.type=so100_follower \
  --robot.port=/dev/tty.usbmodem585A0076841
 
lerobot-setup-motors \
  --teleop.type=so100_leader \
  --teleop.port=/dev/tty.usbmodem575E0031751

4) Calibration

lerobot-calibrate \
  --robot.type=so100_follower \
  --robot.port=/dev/tty.usbmodem58760431551 \
  --robot.id=my_follower
 
lerobot-calibrate \
  --teleop.type=so100_leader \
  --teleop.port=/dev/tty.usbmodem58760431551 \
  --teleop.id=my_leader

5) Record demonstrations

python -m lerobot.record \
  --robot.type=so100_follower \
  --robot.port=/dev/tty.usbmodem585A0076841 \
  --robot.id=my_follower \
  --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 30}}" \
  --teleop.type=so100_leader \
  --teleop.port=/dev/tty.usbmodem58760431551 \
  --teleop.id=my_leader \
  --display_data=true \
  --dataset.repo_id=${HF_USER}/so100_pickplace_v1 \
  --dataset.num_episodes=50 \
  --dataset.single_task="Pick the block and place it into the bin"

6) Replay (cheap quality test)

python -m lerobot.replay \
  --robot.type=so100_follower \
  --robot.port=/dev/tty.usbmodem585A0076841 \
  --robot.id=my_follower \
  --dataset.repo_id=${HF_USER}/so100_pickplace_v1 \
  --dataset.episode=0

7) Before I touch GR00T/π0

I only proceed if:

replay is stable;
thermals are under control;
the dataset does not drift between sessions.

Playbook file (placeholder)

Local /public file; I will replace it with a real PDF

TXT • ~0.5 KB

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