Command reference#

Applicable models: AlohaMini 2 / 2 Pro. Please select one of the two examples with model numbers to execute. Complete entry process: 2 Tutorials · 2 Pro Tutorial.

This page is for quick reference after you have completed the tutorial. For complete steps, parameter explanations and expected results, please enter the corresponding chapters. Unless otherwise noted, commands are executed in the lerobot_alohamini root directory and after activating the environment.

placeholder convention#

Writing method	What to replace with
`<Pi_IP>`	Actual LAN IP on the robot side
`/dev/ttyACM0`	The real serial port corresponding to the current hardware
`$HF_USER`	The Hugging Face username that has been set on the current terminal
`/absolute/path/...`	The absolute path that actually exists on this machine or is to be created
`020000`	Actual number of checkpoint steps saved

Do not execute placeholders with angle brackets as-is. In order to reduce parameter omissions, it is recommended to fill in the model, leader arm profile and equipment identification explicitly.

Environment and Discovery Devices#

conda activate lerobot_alohamini
lerobot-find-port
lerobot-find-cameras
ls -l /dev/am_arm_*

For details, see Installation and Device configuration.

Calibration entry#

Pi：

AlohaMini 2

python -m lerobot.robots.alohamini.alohamini_calibrate --robot_model alohamini2

AlohaMini 2 Pro

python -m lerobot.robots.alohamini.alohamini_calibrate --robot_model alohamini2pro

PC：

python examples/alohamini/calibrate_bi.py \
  --teleop.id am_leader_bi \
  --teleop.arm_profile am-leader-6dof

See Calibration for details.

Host and teleoperation#

Pi：

AlohaMini 2

python -m lerobot.robots.alohamini.alohamini_host --robot_model alohamini2

AlohaMini 2 Pro

python -m lerobot.robots.alohamini.alohamini_host --robot_model alohamini2pro

PC：

AlohaMini 2

python examples/alohamini/teleoperate_bi.py \
  --robot.remote_ip <Pi_IP> \
  --robot.robot_model alohamini2 \
  --teleop.id am_leader_bi \
  --teleop.arm_profile am-leader-6dof \
  --fps 50 \
  --camera-fps 30

AlohaMini 2 Pro

python examples/alohamini/teleoperate_bi.py \
  --robot.remote_ip <Pi_IP> \
  --robot.robot_model alohamini2pro \
  --teleop.id am_leader_bi \
  --teleop.arm_profile am-leader-6dof \
  --fps 50 \
  --camera-fps 30

For details, see Teleoperation.

Data and policy portal#

Task	entrance	Complete tutorial
Standard double-arm recording	`python examples/alohamini/record_bi.py`	Data collection
Multi-frequency dual-arm recording	`python examples/alohamini/record_bi_multirate.py`	Data collection
Real machine playback	`python examples/alohamini/replay_bi.py`	Data inspection and playback
View offline	`lerobot-dataset-viz`	Data check
ACT training	`lerobot-train`	training
Whole machine evaluation	`python examples/alohamini/evaluate_bi.py`	Assessment

The table is the program entry, and you still need to pass in the complete parameters in the corresponding tutorial. You can run --help first to view the parameters accepted by the currently installed version.

Quick check of model parameters#

Model	`robot_model`	leader arm profile	Common leader arm ID
generation	`alohamini1`	`so-arm-5dof`	`so101_leader_bi`
second generation	`alohamini2`	`am-leader-6dof`	`am_leader_bi`
Pro	`alohamini2pro`	`am-leader-6dof`	`am_leader_bi`

The Host uses --robot_model and the PC uses --robot.robot_model; the leader arm ID must be consistent with the value used during actual calibration.

Servo debugging tool#

View status#

python examples/debug/motors.py get_motors_states --port /dev/ttyACM0

Modify a single ID#

Only connect one servo to be configured at a time:

python examples/debug/motors.py configure_motor_id \
  --id 1 --set_id 8 --port /dev/ttyACM0

Other advanced operations#

The following subcommands will modify the status or cause motion. Please check the hardware and parameters before use. Meaning is provided here to avoid treating device-independent target locations as generic debugging values.

subcommand	function	Parameter attention
`move_motor_to_position`	Move the specified servo to the target position	`--position` is the original tick, not the angle or millimeters
`configure_motor_phase`	Modify phase	`--id` Specified object; should not be modified in batches at will
`reset_motors_to_midpoint`	Set the current position as the median related configuration	First confirm the actual attitude and subsequent calibration impact
`reset_motors_torque`	off torque	A mechanism that needs to support a possible fall after losing its holding power
`move_motors_by_script`	Execute action script	Check all actions in the script against applicable hardware

Read specific parameters:

python examples/debug/motors.py --help

The independent wheels.py and axis.py have their own servos and geometric constants. They cannot be considered to be adapted to the second generation or Pro just by passing them through the serial port. For details, see Debugging and troubleshooting.