Step 1: Environment Setup (Ubuntu)

The black leader arm uses a 5V6A power adapter

The white follower arm uses a 12V5A power adapter

Install Miniconda

https://www.anaconda.com/download

Change the pip mirror

pip config set global.index-url https://mirrors.aliyun.com/pypi/simple

Change the conda mirror

# Clear the existing .condarc configuration (optional, to avoid conflicts)
echo "" > ~/.condarc

# Write the Tsinghua mirror configuration
cat << EOF > ~/.condarc
channels:
  - defaults
show_channel_urls: true
default_channels:
  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/r
  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/msys2
custom_channels:
  conda-forge: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  msys2: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  bioconda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  menpo: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  pytorch: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  pytorch-lts: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
  simpleitk: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
EOF

# Clear the cache to apply the configuration
conda clean -i

Create a virtual environment

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

Enter the virtual environment

conda activate lerobot

Install ffmpeg

conda install ffmpeg=7.1.1 -c conda-forge -y

Verify the installation succeeded

ffmpeg

Download the official LeRobot code repository

git clone https://github.com/huggingface/lerobot.git

Install the code repository

#cd lerobot-main
cd lerobot

pip install -e ".[feetech]"

Verify the installation succeeded

lerobot-info

python

import lerobot
lerobot.__version__

import torch
torch.cuda.is_available()
import scservo_sdk

Results running on a 4090 machine

Results running on an NVIDIA DGX Spark

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