Installation & Configuration

← 教程资料库 · AlohaMini 硬件与操作

适用型号请结合本页硬件配置确认。

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Applies to all robots and all machines (PC and Raspberry Pi).

Install conda

x86-64 (PC / Ubuntu):

mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
source ~/.bashrc

ARM64 (Raspberry Pi):

wget https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-Linux-aarch64.sh \
  -O ~/miniforge3/miniforge.sh
bash ~/miniforge3/miniforge.sh -b -u -p ~/miniforge3
rm ~/miniforge3/miniforge.sh
~/miniforge3/bin/conda init bash
source ~/.bashrc

Clone and install

git clone https://github.com/liyiteng/lerobot_alohamini.git
cd lerobot_alohamini
conda create -y -n lerobot_alohamini python=3.12
conda activate lerobot_alohamini
pip install -e ".[all]"
pip install pyzmq feetech-servo-sdk
conda install -y ffmpeg=7.1.1 -c conda-forge

Serial port permissions

One-time setup — add your user to the dialout group, then reboot:

sudo usermod -a -G dialout $USER
# reboot for the change to take effect

HuggingFace configuration

Create an account at huggingface.co and generate a token with read + write permissions, then log in:

git config --global credential.helper store
hf auth login --token <your_token> --add-to-git-credential

Get your username (used in dataset paths throughout this guide):

HF_USER=$(hf auth whoami | sed 's/^user=//')
echo $HF_USER