> ## Documentation Index
> Fetch the complete documentation index at: https://mintlify.com/huggingface/lerobot/llms.txt
> Use this file to discover all available pages before exploring further.

# lerobot-setup-motors

> Configure motor IDs and baudrate for robots and teleoperators

The `lerobot-setup-motors` command configures motor IDs and communication settings for supported robot arms and teleoperation devices.

## Command

```bash theme={null}
lerobot-setup-motors [OPTIONS]
```

Location: `src/lerobot/scripts/lerobot_setup_motors.py`

## Overview

This script:

* Sets unique motor IDs for each joint
* Configures baudrate for motor communication
* Verifies motor connectivity
* Must be run before first use of a robot

## Supported Devices

Compatible robots and teleoperators:

* `koch_follower` / `koch_leader`
* `omx_follower` / `omx_leader`
* `openarm_mini`
* `so100_follower` / `so100_leader`
* `so101_follower` / `so101_leader`
* `lekiwi`

## Key Options

<ParamField path="--robot.type" type="str">
  Robot type to configure (use OR `--teleop.type`, not both).
</ParamField>

<ParamField path="--robot.port" type="str">
  Serial port for robot connection.
</ParamField>

<ParamField path="--teleop.type" type="str">
  Teleoperator type to configure (use OR `--robot.type`, not both).
</ParamField>

<ParamField path="--teleop.port" type="str">
  Serial port for teleoperator connection.
</ParamField>

## Usage Examples

### Setup SO-100 Follower Robot

```bash theme={null}
lerobot-setup-motors \
  --robot.type=so100_follower \
  --robot.port=/dev/ttyUSB0
```

### Setup SO-100 Leader (Teleoperator)

```bash theme={null}
lerobot-setup-motors \
  --teleop.type=so100_leader \
  --teleop.port=/dev/ttyUSB1
```

### Setup Koch Robot

```bash theme={null}
lerobot-setup-motors \
  --robot.type=koch_follower \
  --robot.port=/dev/ttyACM0
```

### Setup OMX Leader

```bash theme={null}
lerobot-setup-motors \
  --teleop.type=omx_leader \
  --teleop.port=/dev/ttyUSB0
```

### Setup OpenArm Mini

```bash theme={null}
lerobot-setup-motors \
  --teleop.type=openarm_mini \
  --teleop.port=/dev/tty.usbmodem58760432981
```

## What It Does

The setup process varies by device type but typically includes:

### Motor ID Assignment

* Assigns unique IDs to each motor in the chain
* IDs typically start at 1 and increment sequentially
* Example: shoulder\_pan=1, shoulder\_lift=2, elbow=3, etc.

### Baudrate Configuration

* Sets communication speed between controller and motors
* Common baudrates: 1000000 (1 Mbps), 3000000 (3 Mbps)
* Higher baudrate = faster communication, less latency

### Motor Discovery

* Scans for connected motors
* Verifies each motor responds
* Reports any missing or unresponsive motors

### Parameter Writing

* Writes configuration to motor EEPROM
* Settings persist across power cycles
* May include:
  * Motor ID
  * Baudrate
  * Return delay time
  * Status return level

## Setup Workflow

1. **Connect Hardware**
   * Plug in robot or teleoperator via USB
   * Ensure device is powered on

2. **Find Port**
   ```bash theme={null}
   lerobot-find-port
   ```

3. **Run Setup**
   ```bash theme={null}
   lerobot-setup-motors \
     --robot.type=so100_follower \
     --robot.port=/dev/ttyUSB0
   ```

4. **Follow Prompts**
   * Script may ask you to position motors
   * Follow on-screen instructions
   * Don't disconnect during setup

5. **Verify**
   * Script confirms successful configuration
   * Test motors with teleoperation:
   ```bash theme={null}
   lerobot-teleoperate \
     --robot.type=so100_follower \
     --robot.port=/dev/ttyUSB0 \
     --teleop.type=so100_leader \
     --teleop.port=/dev/ttyUSB1
   ```

## When to Run Setup

Run motor setup when:

1. **First Time**: New robot or teleoperator
2. **After Motor Replacement**: Replaced any motors
3. **Communication Issues**: Motors not responding
4. **ID Conflicts**: Multiple motors with same ID
5. **Factory Reset**: Motors reset to default settings

## Troubleshooting

### Port Permission Errors

```bash theme={null}
# Linux: Add user to dialout group
sudo usermod -a -G dialout $USER
# Log out and back in

# Or temporarily fix permissions
sudo chmod 666 /dev/ttyUSB0
```

### No Motors Found

**Causes:**

* Wrong port selected
* Motors not powered
* Faulty USB cable
* Incorrect baudrate

**Solutions:**

```bash theme={null}
# Verify port
lerobot-find-port

# Check power connection (typically 12V or 24V)
# Try different USB cable
# Verify USB cable has data lines (not charge-only)
```

### Motor ID Conflicts

If motors have duplicate IDs:

1. **Isolate Motors**: Connect one motor at a time
2. **Assign Unique IDs**: Run setup for each motor individually
3. **Reconnect All**: After all motors have unique IDs
4. **Verify**: Run setup again to confirm

### Setup Fails Partway

* Don't disconnect USB during setup
* Ensure stable power supply to motors
* Avoid moving motors during configuration
* Check motor temperatures (overheating can cause issues)

### Wrong Device Type

**Error:**

```text theme={null}
NotImplementedError
```

**Solution:**

* Verify device type is in supported list
* Check you're using the correct `--robot.type` or `--teleop.type`
* Some devices may not support automatic setup

## Advanced Usage

### Programmatic Setup

```python theme={null}
from lerobot.robots import make_robot_from_config
from lerobot.robots.so_follower.config_so_follower import SOFollowerRobotConfig

config = SOFollowerRobotConfig(
    port="/dev/ttyUSB0",
    id="my_robot",
)

robot = make_robot_from_config(config)
robot.setup_motors()
```

### Teleoperator Setup

```python theme={null}
from lerobot.teleoperators import make_teleoperator_from_config
from lerobot.teleoperators.so_leader.config_so_leader import SOLeaderTeleoperatorConfig

config = SOLeaderTeleoperatorConfig(
    port="/dev/ttyUSB1",
    id="my_leader",
)

teleop = make_teleoperator_from_config(config)
teleop.setup_motors()
```

## Configuration Files

You can also use a configuration file:

```yaml theme={null}
# setup_config.yaml
robot:
  type: so100_follower
  port: /dev/ttyUSB0
  id: follower
```

Run with:

```bash theme={null}
lerobot-setup-motors --config setup_config.yaml
```

## Best Practices

1. **Label Ports**: Mark which USB port connects to which device
2. **Document IDs**: Record motor IDs for future reference
3. **Test After Setup**: Always verify with teleoperation
4. **Backup Settings**: Some devices allow exporting motor configurations
5. **Regular Checks**: Re-run setup if motors behave unexpectedly

## See Also

* [lerobot-find-port](/api/scripts/find-port) - Identify USB ports
* [lerobot-calibrate](/api/scripts/calibrate) - Calibrate motor positions
* [lerobot-teleoperate](/api/scripts/teleoperate) - Test motor setup
* [Robot API](/api/robot) - Robot control interface