Step 4: Teleoperation (macOS)

Grant permissions to the port

Grant all users read/write permission for these serial devices

chmod 666 /dev/tty.*

Review the port numbers

Follower:

/dev/tty.usbmodem5AAF2193061

/dev/tty.wchusbserial5AAF2193061

Leader:

/dev/tty.usbmodem5AAF2194741

/dev/tty.wchusbserial5AAF2194741

Teleoperation

lerobot-teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/tty.usbmodem5AAF2193061 \
    --robot.id=my_follower_arm \
    --teleop.type=so101_leader \
    --teleop.port=/dev/tty.usbmodem5AAF2194741 \
    --teleop.id=my_leader_arm

Using the other port also works

lerobot-teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/tty.wchusbserial5AAF2193061 \
    --robot.id=my_follower_arm \
    --teleop.type=so101_leader \
    --teleop.port=/dev/tty.wchusbserial5AAF2194741 \
    --teleop.id=my_leader_arm

Related Products

SO-ARM101 Developer Kit→