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Getting Started

FAQ

ROS Intro

Lark Docs

Jetson AGX Orin Dev Kit

Quick Start

Flashing & Updates

Verify Your System

Interfaces & Hardware Layout

Product Overview

Local LLM Inference

Agentic AI (NemoClaw)

DeepStream Video Analytics

Robotics — State of Play

Memory Efficiency

Migrate from JetPack 6.x

Downloads & Official Links

FAQ

Troubleshooting

Glossary

Changelog

XLeRobot Docker

01 · Overview

02 · Environment Setup

03 · Deployment

Original LeRobot Operation

XLeRobot Operation

Troubleshooting and Quick Reference

Jetson Orin Nano Dev Kit

Quick Start

Flashing & Updates

Verify Your System

Interfaces & Hardware Layout

Product Overview

Local LLM Inference

Memory Efficiency

DeepStream Video Analytics

Robotics (State of Play)

Agentic AI (NemoClaw)

Migrate from JetPack 6.x

Downloads

FAQ

Troubleshooting

Glossary

Changelog

XLeRobot Docker

01 · Overview

02 · Environment Setup

03 · Deployment

Original LeRobot Operation

XLeRobot Operation

Troubleshooting and Quick Reference

Learning Resources

Learning Resources Home

Jetson Orin PyTorch Compatibility

Robot Arms

Robot Arms Overview

Selection Guide

SO-ARM101 Series

SO-ARM101 Robotic Arm Tutorials

SO-ARM101 Tutorial

SO-ARM101 Assembly

SO-ARM101 Jetson Orin PyTorch Compatibility

Arm Mount & Camera Kit Installation

Overhead Camera Mount Installation

SO-ARM101 Wireless Teleoperation (ESP32-NanoCam Version)

Wireless Teleoperation Troubleshooting

SO-ARM101 Bi-Arm (Dual Follower) Tutorial

SoARM Series Servo Calibration Tool Tutorial

Web Calibration (STS3215)

LeRobot Full Course

LeRobot Course Overview

1. Environment Setup

Step 1: Environment Setup (Ubuntu)

Step 1: Environment Setup (Windows)

Step 1: Environment Setup (macOS)

2. Serial Port Check

Step 2: Serial Port Check (Ubuntu)

Step 2: Serial Port Check (Windows)

Step 2: Serial Port Check (macOS)

3. Arm Calibration

Step 3: Arm Calibration (Ubuntu)

Step 3: Arm Calibration (Windows)

Step 3: Arm Calibration (macOS)

4. Teleoperation

Step 4: Teleoperation (Ubuntu)

Step 4: Teleoperation (Windows)

Step 4: Teleoperation (macOS)

5. Camera Teleop

Step 5: Camera Teleoperation (Ubuntu)

Step 5: Camera Teleoperation (Windows)

Step 5: Camera Teleoperation (macOS)

6. Data Collection

Step 6: Teaching & Recording a Dataset

Step 6: Teaching & Recording a Dataset — Handshake 200

Step 6: Viewing & Replaying a Dataset

Step 6: Dataset Collection Notes

Step 6: Hugging Face Account (Optional)

Step 6: Upload Dataset to Hugging Face (Optional)

Step 7 (Simulation): Collecting a Dataset — Lightwheel LeIsaac Teleoperation

7. Model Training

Step 7: Training — Local Ubuntu

Step 7: Training — Cloud GPU Setup

Step 7: Training — wandb Curves

Step 7: Training — Upload Model (Optional)

Step 7: Training — Model Weights

Step 7: Training — ACT Command

Step 7: Training — pi0 Command

Step 7: Training — pi0.5 Command

Step 7: Training — pi0fast Command

Step 7: Training — smolvla Command

Step 7: Training — Diffusion Command

Step 7: Training — WALL-OSS Command

Step 7: Training — Training Command Line

Step 7: Training — Parameter Tips

Step 7: Training — Imitation Learning Algorithms

8. Model Inference

Step 8: Inference — CLI Reference

Step 8: Inference — Common Bugs

Step 8: Inference — ACT Command

Step 8: Inference — pi0 Command

Step 8: Inference — pi0.5 Command

Step 8: Inference — smolvla Command

Step 8: Inference — Diffusion Command

Step 8: Inference — WALL-OSS Command

Step 8: Inference — NVIDIA DGX Spark

Step 8: Inference — D-Robotics RDK S100

Basics

Understanding LeRobot

LeRobot Datasets on Hugging Face

Model Training Resources

SO-ARM100 Official 3D Print Files

URDF Files and Reference Materials

Recommended Camera Brackets and Mounts

Extras & Advanced

ROS2 Simulation Control

Parallel Finger Gripper Installation

LeLab Tutorial

1 · Overview

2 · Install and run

3 · Connect and calibrate

4 · Teleoperation

5 · Record a dataset

6 · Train and run inference

7 · Troubleshooting

MuJoCo Simulation Tutorial

SO-ARM101 × MuJoCo Full Workflow Tutorial (Index)

01 · Environment Setup

02 · Simulation Model Verification (MJCF Loading and Driving)

03 · Real-Robot Connection and Calibration

04 · Keyboard Teleoperation

05 · Leader-Arm Digital Twin (Physical Arm Driving the Simulated Arm)

06 · Data Recording and Replay

07 · Troubleshooting and Lessons Learned

08 · Roadmap

09 · Complete Usage Tutorial (Arm Bring-Up → Dataset → Watching Videos → Training → Deployment)

SO-ARM101 Robotic Arm 7-DOF Tutorial

SO-ARM101 Robotic Arm 7-DOF Tutorial

1. Environment Setup

Ubuntu

Windows

Mac

2. Replace Files (7-DOF Adaptation)

3. Serial Port Check

Ubuntu

Windows

Mac

4. Arm Calibration

Ubuntu

Windows

Mac

5. Teleoperation

Ubuntu

Windows

Mac

6. Camera Teleop

Ubuntu

Windows

Mac

7. Data Collection

Browse and Replay the Dataset

Dataset Collection Notes

Register a Hugging Face Account (Optional)

Upload Dataset to HuggingFace (Optional)

Teaching and Recording a Dataset - Handshake 200

Teaching and Recording a Dataset

8. Model Training

Cloud GPU Training Environment Setup

Training Command Line - ACT (Recommended for Beginners)

Training Command Line - Diffusion

Training Command Line - pi0.5

Training Command Line - pi0 (Best Results)

Training Command Line - pi0fast

Training Command Line - smolvla (Recommended for Advanced Users)

Upload the Model to HuggingFace (Optional)

Imitation Learning Algorithms Supported by LeRobot

Local Ubuntu Training

Obtain the Model Weight File

Training Parameter Recommendations

View Real-Time Training Curves on wandb

9. Model Inference

Command Line Reference

Inference Command Line - ACT

Inference Command Line - Diffusion

Inference Command Line - pi0.5

Inference Command Line - pi0

Inference Command Line - smolvla

Common Bugs and Fixes

NVIDIA DGX Spark Inference

D-Robotics RDK S100 Inference

XLeRobot Docker Image Tutorial

Jetson AGX Orin

01 · Overview

02 · Environment Setup

03 · Deployment

Original LeRobot Operation

XLeRobot Operation

Troubleshooting and Quick Reference

Jetson Orin Nano

01 · Overview

02 · Environment Setup

03 · Deployment

Original LeRobot Operation

XLeRobot Operation

Troubleshooting and Quick Reference

SO-ARM101 + AmazingHand Course

Course Overview

Linux

Stage 1: Environment Setup (Linux)

Stage 2: Hand & Arm Calibration (Linux)

Stage 3: Teleoperation (Linux)

Stage 4: Data Collection (Linux)

Stage 5: Model Training (Linux)

Stage 6: Model Deployment (Linux)

Windows

Stage 1: Environment Setup (Windows)

Stage 2: Hand & Arm Calibration (Windows)

Stage 3: Teleoperation (Windows)

Stage 4: Data Collection (Windows)

Stage 5: Model Training (Windows)

Stage 6: Model Deployment (Windows)

XLeRobot Tutorials

Tutorials Overview

Environment Setup (macOS)

Environment Setup (Ubuntu)

Environment Setup (Windows)

Move XLeRobot Files

Assembled-Kit Assembly

Parts-Kit Assembly

AmazingHand Dexterous Hand Tutorials Overview

00 Product information

AmazingHand Product Information

SCS0009 vs PWM Version Comparison and Selection

Downloads and Resources

01 Hardware & wiring

Hardware Overview: Mechanics, CAD and Assembly

SCS0009 Wiring, ID and Power

PWM Wiring, GPIO and Power

Environmental Camera Kit Installation

02 Quick start

SCS0009 Quick Start

PWM Quick Start

03 Web control

AmazingHand Web Control

SCS0009 Web Control

PWM Web Control

04 Desktop software

SCS0009 Desktop Host Software (GUI and CLI)

PWM Desktop Host Software (Tkinter GUI)

05 Hand tracking

SCS0009 Hand Tracking (Official dora Demo)

PWM Hand Tracking (MediaPipe Built into the GUI)

06 Servo tuning & calibration

SCS0009 Servo Debugging and Calibration

PWM Servo Protocol, Commands and Calibration

07 Arduino & examples

Arduino Nano Tutorial

Arduino and Python Examples

08 FAQ

Frequently Asked Questions (FAQ)

Lekiwi

Lekiwi Tutorial

Lekiwi Assembly

Product Information

SR-Support Self-Righting Robot Tutorial

01 Basics

02 Environment setup (venv, flash tools and firmware)

03 Flash the main firmware

04 Assembly: print, build, wire

05 Zero-calibration (arrow keys; required for DIY builds)

06 Debug and calibration

07 Self-righting usage and monitoring

08 WiFi status page and provisioning

09 MuJoCo simulation and the live twin

10 Troubleshooting

11 Reference: model, parameters and licensing

Accessories

Accessories Overview

KWS Speech Recognition Module

Series Home

Jetson Nano Serial Communication

Jetson Serial Communication

PC Serial Communication

Raspberry Pi Serial Communication

ROS2 rviz2 Visualization

Firmware Download & Burn

Feetech Servos

STS3215 & SCS0009 Tutorial

SCS Communication Protocol

Magnetic Encoder STS Servo Memory Table

Potentiometer SCSCL Servo Memory Table

SCS0009 Servo Debug Tool Tutorial

Web Debugger (SCS0009 / STS3215 / HD1910)

ESP32-NanoCam Video Module

ESP32-NanoCam Quick Start

ESP32-NanoCam Hardware Spec

ESP32-NanoCam Serial Protocol Manual

Code Downloads

AI Vision Tutorial (11 chapters)

Chapter 1: Environment Setup

Chapter 2: Quick Start

Chapter 3: Camera Basics

Chapter 4: Face Detection

Chapter 5: Cat Face Detection

Chapter 6: Color Recognition

Chapter 7: QR Code Scanning

Chapter 8: Face Recognition

Chapter 9: Voice Chat

Chapter 10: AI Vision Understanding

Chapter 11: ESP-Claw Voice Control

CSI Camera Tutorials

Jetson CSI Camera Setup

Auto-Focus Camera Usage

Using JupyterLab

Using JetCam

IMX219 on Raspberry Pi

AI Voice Interaction Module

Quick Start

Product Information

Module Firmware Flashing

Modify the Wake Word and Command Words

Custom Protocol Entry Creation

ROS1 Voice Interaction

ROS2 Voice Interaction

Serial Port Protocol

IIC Protocol

PC Communication

Arduino: Serial Port Communication

Arduino: IIC Communication

Jetson: Serial Port Communication

Jetson: IIC Communication

RDK: Serial Port Communication

RDK: IIC Communication

Raspberry Pi: Serial Port Communication

Raspberry Pi: IIC Communication

Other Accessories

USB Auto-Focus Camera

Jetson CSI Camera

2-DOF Camera Gimbal

Quick Start Guide

Hardware and Environment Setup

Basic Usage

Advanced Features and Tracking

Troubleshooting

Product Info

Heart Rate & SpO2 Sensor

Tutorial Overview

Product Info

Web Console Guide

Arduino Guide

Raspberry Pi Guide

PC

Python Script

PC GUI App

0.91" OLED Screen

4K HDMI Capture

KVM Switch Tutorials

KVM Switch

KVM Switch · Tutorial Overview

01 · Switching Between Two Computers (Button & IR Remote)

02 · HUB Function (One to Three)

03 · Bluetooth

04 · TTL Serial Port (Wireless Serial)

05 · 10-Pin Expansion Header

06 · Headless Host (Capture Card + OBS)

07 · FAQ and Precautions

USB Driver-Free Sound Card

Sensors

Sensors Overview

IMU Inertial Module

Product Info

Web Host Console

MicroDuck Integration

IMU Calibration

Remote File Transfer

SSH File Transfer

Multi-Board Examples

Overview

PC Communication

I2C Communication

Arduino

Jetson Series

Raspberry Pi 5

RDK Series

STM32 F103C8T6

Serial Communication

Arduino

Jetson Series

Raspberry Pi 5

RDK Series

STM32 F103C8T6

ROS Examples

ROS1 Application

ROS2 Application

GPS & BeiDou Module

Module Info

51 MCU: GPS Parsing

Arduino: Location Reading

Arduino: Location Parsing

STM32F103: GPS Parsing Output

Jetson: GPS Parsing

Jetson: AGNSS Positioning

Jetson: Baidu Map API

Raspberry Pi: GPS Parsing

Raspberry Pi: AGNSS Positioning

Raspberry Pi: Baidu Map API

ROS: Preparation

ROS: Reading GPS Data

ROS: Drawing GPS Tracks

Map Location Error

On this page

Buy This ProductOfficial Store Official Website

Environmental Camera Kit Installation

For debugging the USB autofocus camera, see the USB autofocus camera tutorial.

Bracket installation steps

First secure the fine-adjustment angle bracket
Side-view environmental camera kit
Top-view environmental camera kit

Official installation illustration

Steps for mounting the camera module on the fine-adjustment angle bracket

Side view after installation

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