SO-ARM101 + AmazingHand Tutorial
This tutorial covers the full workflow of teleoperation, data collection, and training for reproducing the SO-ARM101 follower arm + AmazingHand dexterous hand, based on LeRobot (a customized version of the official repository).
The tutorial is organized by stage, with each stage in its own directory, split internally by operating system into two documents: Windows and Linux. Choose the document that matches your operating system.
Hardware and Software Overview
| Device | Serial port (example, must be replaced) | Servo model | Notes |
|---|---|---|---|
| Leader arm | COM54 / /dev/ttyACM1 | Mixed modelssts3125-C001, sts3215-C044, sts3215-C046 | Teleoperation input, keeps gripper #6 |
| Follower arm | COM58 / /dev/ttyACM0 | sts3215-C018 (No. 1-5) | Execution side, gripper #6 removed |
| AmazingHand dexterous hand | COM11 / /dev/ttyACM2 | scs0009 (8 units, ID 1-8) | Follower arm end effector, dedicated serial port |
⚠️ Serial port names vary by machine: The table above is only an example. The COM number/device path differs on every computer, so be sure to use
lerobot-find-portto confirm your machine's actual values and replace all placeholder parameters in the commands.
The three devices must each have their own serial port and their own power supply. SCS0009 (protocol 1) and STS3215 (protocol 0) are not compatible on the same bus.
Tutorial Directory Structure
tutorials/robot-arms/so-arm-amazinghand/
├── index.md
├── Linux
│ ├── 01-Environment-Setup-Linux.md
│ ├── 02-Hand-Arm-Calibration-Linux.md
│ ├── 03-Teleoperation-Linux.md
│ ├── 04-Data-Collection-Linux.md
│ ├── 05-Model-Training-Linux.md
│ └── 06-Model-Deployment-Linux.md
└── Windows
├── 01-Environment-Setup-Windows.md
├── 02-Hand-Arm-Calibration-Windows.md
├── 03-Teleoperation-Windows.md
├── 04-Data-Collection-Windows.md
├── 05-Model-Training-Windows.md
└── 06-Model-Deployment-Windows.mdRecommended Reading Path
| Step | Stage | Linux | Windows |
|---|---|---|---|
| 1 | Environment setup | 01-Environment-Setup-Linux.md | 01-Environment-Setup-Windows.md |
| 2 | Calibration | 02-Hand-Arm-Calibration-Linux.md | 02-Hand-Arm-Calibration-Windows.md |
| 3 | Teleoperation | 03-Teleoperation-Linux.md | 03-Teleoperation-Windows.md |
| 4 | Data collection | 04-Data-Collection-Linux.md | 04-Data-Collection-Windows.md |
| 5 | Model training | 05-Model-Training-Linux.md | 05-Model-Training-Windows.md |
| 6 | Deployment and evaluation | 06-Model-Deployment-Linux.md | 06-Model-Deployment-Windows.md |
Quick Reference: Core Differences by Stage
| Aspect | Linux | Windows |
|---|---|---|
| Python environment | Miniforge + the same command | Miniconda + conda create -n lerobot python=3.12 |
| Serial port name | /dev/ttyACM0/1/2 (examples) | COM54 / COM58 / COM11 (examples) |
| Serial port permissions | Requires sudo chmod 666 /dev/ttyACM* or a udev rule | No special configuration needed |
| Command invocation | lerobot-xxx after activating conda | lerobot-xxx after activating conda |
| CUDA training | Officially supported, resolves smoothly | CUDA torch must be installed manually |
General Notes
Get stage 1 working first, then move on to the later stages—the environment is the prerequisite for every subsequent command.
Every computer must be recalibrated: especially the hand angles (
lerobot-calibrate-amazing-hand). The angles in the config are AmazingHand's official generic defaults and serve only as a fallback; whenhand_angles.jsonexists, the locally measured values are loaded in preference.Calibration file location:
~/.cache/huggingface/lerobot/calibration/. When switching machines, migrate the file or recalibrate.Always verify the directions on the first teleoperation: gripper open ↔ hand open, pinch ↔ hand close.
Each stage's Windows / Linux includes platform-specific notes; please read them in full.
Troubleshooting Entry Point
The stage documents include a troubleshooting table for each platform. Common issues:
conda not initialized / command not found
Insufficient serial port permissions (Linux)
Incorrect hand/arm direction mapping
Hand angles not calibrated, causing abnormal opening/closing
See the individual stage documents for details.