Stage 1: Environment Setup (Linux)

Use Miniforge to create an isolated Python environment and install LeRobot with AmazingHand support. Run this page in strict order; each code block can be copied as a whole.

Environment versions: Python 3.12 · PyTorch ≥ 2.10 · LeRobot 0.6.2 (customized version in this repository) · Ubuntu 20.04/22.04 recommended

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Step 1: Install Miniforge

wget "https://mirrors.tuna.tsinghua.edu.cn/github-release/conda-forge/miniforge/LatestRelease/Miniforge3-$(uname)-$(uname -m).sh"

bash Miniforge3-$(uname)-$(uname -m).sh -b
~/miniforge3/bin/conda init
source ~/.bashrc

conda --version

Official address (for overseas networks): https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh

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Step 2: Configure a Domestic conda Mirror (Mainland China networks)

conda config --remove-key channels

conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/

pkgs/free has been taken offline (404); do not add it. If your network is unrestricted, you can skip this step.

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Step 3: Install Build Tools (required on a fresh system)

A freshly installed Ubuntu may lack build tools such as gcc, which are needed to install packages like evdev:

sudo apt update
sudo apt install -y build-essential

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Step 4: Create a Virtual Environment

conda create -y -n lerobot python=3.12
conda activate lerobot

python --version
python -c "import struct; print(struct.calcsize('P')*8, 'bit')"

Expect Python 3.12.x + 64 bit.

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Step 5: Install ffmpeg (required for video decoding)

LeRobot relies on ffmpeg to record and replay video data:

conda install ffmpeg -c conda-forge -y

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Step 6: Install Project Dependencies

cd ~/lerobot-main
pip install -e ".[amazinghand]"

amazinghand includes: feetech-servo-sdk (arm motors), rustypot (hand motors), pygame (calibration GUI), pyserial (serial ports).

If pip is slow, configure a domestic mirror first:

pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple

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Step 7: Configure Serial Port Permissions

sudo chmod 666 /dev/ttyACM*

Permanent solution (udev rule, for the CP210x chip, VID 10c4):

sudo tee /etc/udev/rules.d/99-servo.rules << 'EOF'
SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="0666", GROUP="dialout"
EOF
sudo udevadm control --reload-rules && sudo udevadm trigger

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Step 8: Verify the Environment

python -c "import scservo_sdk, rustypot, pygame, serial, lerobot; print('all OK')"
lerobot-calibrate-amazing-hand --help

It should display all OK and usage: lerobot-calibrate-amazing-hand ....

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Step 9: Confirm the Serial Ports

ls -l /dev/ttyACM* /dev/ttyUSB* 2>/dev/null

Or use lerobot-find-port. Confirm the paths of the three devices (examples /dev/ttyACM0//dev/ttyACM1//dev/ttyACM2, which must be replaced with your actual values).

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Done → Stage 2: Calibration

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Troubleshooting

Symptom	Solution
conda command not found	source ~/.bashrc, or reopen the terminal after conda init
pkgs/free 404	That channel is offline; do not add it
Serial port Permission denied	Step 7 sudo chmod 666
Dependencies fail to install / are slow	Configure a domestic pip mirror (see the note in step 6)
evdev compilation error during install	Step 3 sudo apt install build-essential
GPU training CUDA check False	See the Stage 5 training document

Related Products

SO-ARM101 Developer Kit→AmazingHand 4-Finger Dexterous Hand→