seeed-projects/seeed-jetson-developtool/lerobot-env-setup

LeRobot Environment Setup (Jetson / SO-ARM)

Execution model

Run the install script one phase at a time. After each phase:

• Relay the output to the user (show [install] lines)
• If it printed [STOP] → stop, follow the failure decision tree below
• If it ended with [install] Step N: or [OK] → proceed to next phase

Why phases? The torch download is ~254 MB and takes 10–20 min.

Running everything in one call risks silent timeout. Phases give the user

visibility and a recovery point at each step.

Phase commands

Replace <ENV> with the env name the user requested (default: lerobot). All phases use the same script — the script is idempotent; already-done steps are skipped automatically.

Phase 1 — Environment + clone (fast, ~1 min)

bash ~/.agents/skills/lerobot-env-setup/scripts/install_lerobot.sh \
  --env <ENV> --robot-type so-arm --phase env

Phase 2 — Download wheels (slow, 10–20 min, shows % progress)

bash ~/.agents/skills/lerobot-env-setup/scripts/install_lerobot.sh \
  --env <ENV> --robot-type so-arm --phase download

Phase 3 — Install torch + verify CUDA (fast, ~2 min)

bash ~/.agents/skills/lerobot-env-setup/scripts/install_lerobot.sh \
  --env <ENV> --robot-type so-arm --phase torch-pre

Phase 4 — opencv / ffmpeg / numpy + lerobot editable (medium, ~5 min)

bash ~/.agents/skills/lerobot-env-setup/scripts/install_lerobot.sh \
  --env <ENV> --robot-type so-arm --phase deps

Phase 5 — Reinstall torch + validate (fast, ~2 min)

bash ~/.agents/skills/lerobot-env-setup/scripts/install_lerobot.sh \
  --env <ENV> --robot-type so-arm --phase torch-post

Failure decision tree

After all phases pass — Serial port (SO-ARM only)

if dpkg -l brltty 2>/dev/null | grep -q '^ii'; then sudo apt remove brltty; fi
if ! id -nG | grep -qw dialout; then sudo usermod -aG dialout $USER; fi
if [[ ! -f /etc/udev/rules.d/99-serial-ports.rules ]]; then
  sudo tee /etc/udev/rules.d/99-serial-ports.rules > /dev/null <<'EOF'
KERNEL=="ttyUSB[0-9]*", MODE="0666"
KERNEL=="ttyACM[0-9]*", MODE="0666"
EOF
  sudo udevadm control --reload-rules && sudo udevadm trigger
fi

Reference files

• references/conflict_resolution_playbook.md — F1–F7 fix playbook
• references/lerobot_env_setup.md — detailed install notes
• references/jetpack_compatibility_matrix.json — version gates
• references/dependency_mapping_rules.md — install order rules