does not accept usb-port from configs.py

[mukral]

Hello,

script
find_motors_bus_port.py
found COM3 and COM4 (windows environment).

script
python lerobot/scripts.py --port COM4 --brand feetech --model sts3215 --baudrate 1000000 --ID 1
works and the motor moves.

But when I try to calibrate and run
python lerobot/scripts/control_robot.py --robot.type=so101 --control.type=calibrate
I receive an error
serial.serialutil.SerialException: could not open port '/dev/tty.usbmodem585A0076891'
which is the default one from original file.

although port in config.py is set to COM4 and COM3:
...
@RobotConfig.register_subclass("so101")
@DataClass
class So101RobotConfig(ManipulatorRobotConfig):
calibration_dir: str = ".cache/calibration/so101"
# max_relative_target limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: int | None = None

leader_arms: dict[str, MotorsBusConfig] = field(
    default_factory=lambda: {
        "main": FeetechMotorsBusConfig(
            port="COM4",
            motors={
                # name: (index, model)
                "shoulder_pan": [1, "sts3215"],
                "shoulder_lift": [2, "sts3215"],
                "elbow_flex": [3, "sts3215"],
                "wrist_flex": [4, "sts3215"],
                "wrist_roll": [5, "sts3215"],
                "gripper": [6, "sts3215"],
            },

...
Cache also should be deleted , because I've booted the system (several) times.
Any idea?

short other question: does anybody know how to replace the ' " ' in
--control.arms='["main_follower"]'?
windows seems to have problems with it and throws an error
The given value='[main_follower]' is not of a valid input for a list type

Thanks a lot,
Markus

[jakmilller]

I encountered the same issue on a Linux system. Although I'm sure there's alternative solutions, I fixed it by creating my own configuration file so100_config.yaml seen below

robot:
  type: so100
  cameras: {}
  follower_arms:
    main:
      mock: false
      motors:
        elbow_flex: [3, "sts3215"]
        gripper: [6, "sts3215"]
        shoulder_lift: [2, "sts3215"]
        shoulder_pan: [1, "sts3215"]
        wrist_flex: [4, "sts3215"]
        wrist_roll: [5, "sts3215"]
      port: /dev/ttyACM1
      type: feetech  # Added missing type field
  leader_arms:
    main:
      mock: false
      motors:
        elbow_flex: [3, "sts3215"]
        gripper: [6, "sts3215"]
        shoulder_lift: [2, "sts3215"]
        shoulder_pan: [1, "sts3215"]
        wrist_flex: [4, "sts3215"]
        wrist_roll: [5, "sts3215"]
      port: /dev/ttyACM0
      type: feetech  # Added missing type field
control:
  type: calibrate
  arms: ["main_follower"]

Try inserting your appropriate port names into this and running python3 lerobot/scripts/control_robot.py --config so100_config.yaml. Hopefully this works for you.

[jakmilller]

If you get the same error when trying to teleoperate, change the last part of the file to

control:
  type: teleoperate

deleting the arms parameter, and run the same command as above.

[CarolinePascal]

Hi @mukral !

Could you check if the port you want to use is correctly reported in the configuration displayed when the script is launched ? With the unmodified default configs.py you should see :

INFO 2025-05-14 12:02:43 ol_robot.py:409 {'control': {'arms': ['main_follower']},
 'robot': {'calibration_dir': '.cache/calibration/so101',
           'cameras': {},
           'follower_arms': {'main': {'mock': False,
                                      'motors': {'elbow_flex': [3, 'sts3215'],
                                                 'gripper': [6, 'sts3215'],
                                                 'shoulder_lift': [2,
                                                                   'sts3215'],
                                                 'shoulder_pan': [1, 'sts3215'],
                                                 'wrist_flex': [4, 'sts3215'],
                                                 'wrist_roll': [5, 'sts3215']},
                                      'port': '/dev/tty.usbmodem585A0076891'}},
           'gripper_open_degree': None,
           'leader_arms': {'main': {'mock': False,
                                    'motors': {'elbow_flex': [3, 'sts3215'],
                                               'gripper': [6, 'sts3215'],
                                               'shoulder_lift': [2, 'sts3215'],
                                               'shoulder_pan': [1, 'sts3215'],
                                               'wrist_flex': [4, 'sts3215'],
                                               'wrist_roll': [5, 'sts3215']},
                                    'port': '/dev/tty.usbmodem58760431091'}},
           'max_relative_target': None,
           'microphones': {},
           'mock': False}}

If your modifications were correctly taken into account, the output should be modified accordingly.

Best,

Caroline.

[ZeroHezi]

When running control_robot.py, maybe the program defaults to loading modules from the site-packages directory in the virtual environment, rather than from the current working directory. To resolve this, add the following code at the beginning of the control_robot.py script to insert the current working directory at the front of sys.path, ensuring that modules from the current directory are loaded first:

import sys
current_working_directory = '/home/user/lerobot/'
sys.path.insert(0, current_working_directory)

With this change, Python will prioritize loading modules from the current_working_directory over those in site-packages