LeRobot panel (Electron + Next.js + FastAPI)

All-in-one workspace for managing SO101 robots: map COM ports, create robots, calibrate joints, and trigger leader→follower teleoperation. The stack uses:

• Electron (electron/main.js) to wrap the web UI.
• Next.js frontend (frontend/) for the setup flow and robot dashboard.
• FastAPI backend (backend/) for persistence, COM monitoring, and command hooks into lerobot.
• Local storage at data/robots.json for robots and calibration metadata.

Project layout

• backend/ – FastAPI app (uvicorn backend.main:app) with COM polling, REST API, and command runners.
• frontend/ – Next.js app router UI. NEXT_PUBLIC_API_BASE defaults to http://localhost:8000.
• electron/ – Minimal Electron shell pointing at the Next.js dev server.
• data/robots.json – persisted robots + calibration entries. Deleting a robot also clears its calibration.

Setup

1. Install everything (JS deps)
   From repo root run:

   npm install

   This installs root tooling plus runs frontend/electron installs for you.

2. Install backend (Python)
   Create/activate your venv, then:

   npm run install:backend   # wraps: python -m pip install -r backend/requirements.with-lerobot.txt

   • If you do not want the vendored ./lerobot, use backend/requirements.txt instead.
   • COM detection uses pyserial and polls every ~2s. Status is online when the stored COM port is present.
   • Calibration/teleop commands default to dry-run unless the lerobot package is importable. Set LEROBOT_DRY_RUN=0 to force real execution.

3. Run all dev services from root

   npm run dev

   • Starts FastAPI on :8000, Next.js on :3000, and then Electron after the frontend is ready.
   • Make sure your Python venv is active (so python points to the env with dependencies) before launching. The backend now runs from the repo root (python -m uvicorn backend.main:app), so it can import the backend package cleanly.
   • For backend-only or frontend-only, use npm run dev:backend or npm run dev:frontend (Electron: npm run dev:electron).

Using the UI

• Add robot wizard: refresh COM list, plug/unplug to spot the right port, pick model (SO101) and role (leader/follower), then name it. The backend stores name, model, role, and COM for later commands.
• Robots page: shows status (online/offline via COM presence), calibration flag, and actions to calibrate, inspect, or delete (deletes calibration too).
• Calibration flow: if a calibration exists you'll be asked to override. Otherwise you land on the calibration modal: set arm to neutral → start → adjust joint min/current/max → “End & save”. Backend endpoint: POST /robots/{id}/calibration.
• Teleoperation: on a calibrated leader, pick a calibrated follower of the same model. If the follower lacks calibration you'll get a warning. Starting teleop prompts you to align poses; “Stop” clears the active session marker. Backend endpoint: POST /teleop/start.

API overview (FastAPI)

• GET /health – basic check.
• GET /ports – snapshot of detected COM ports {port: description}.
• GET /robots / POST /robots – list/create robots (name, model, role, com_port).
• GET /robots/{id} / DELETE /robots/{id} – fetch or remove (also clears calibration).
• POST /robots/{id}/calibration/start – runs lerobot.scripts.lerobot_calibrate with --robot/--teleop flags based on role. Honors override flag.
• POST /robots/{id}/calibration – save joint ranges.
• GET /robots/{id}/calibration – fetch saved calibration.
• POST /teleop/start – validates leader/follower calibration and model match, then calls the teleop hook (placeholder for now).

Command wiring

• Calibration command built as:
  • Follower: python -m lerobot.scripts.lerobot_calibrate --robot.type=so101_follower --robot.port=COM13 --robot.id=<name>
  • Leader: python -m lerobot.scripts.lerobot_calibrate --teleop.type=so101_leader --teleop.port=COM14 --teleop.id=<name>
• If a local lerobot/src exists inside this repo, it is added to PYTHONPATH automatically. Editable install via pip install -r backend/requirements.with-lerobot.txt.

Notes

• Status relies on COM presence; for USB plug/unplug feedback hit “Refresh COM list”.
• Teleop hook currently returns a success message; swap run_teleop in backend/commands.py with your real command when ready.
• Everything uses ASCII text; adjust styling in frontend/src/app/globals.css and interactions in frontend/src/app/page.tsx.