Stage 1: Environment Setup (Windows)
Use Miniconda to create an isolated Python environment and install LeRobot with AmazingHand support. Run this page in strict order; each code block can be copied as a whole.
Environment versions: Python 3.12 · PyTorch ≥ 2.10 · LeRobot 0.6.2 (customized version in this repository)
Step 1: Install Miniconda
Command-line install (PowerShell, recommended) — use the Tsinghua mirror on Mainland China networks:
curl.exe -L -o Miniconda3-latest-Windows-x86_64.exe https://mirrors.tuna.tsinghua.edu.cn/anaconda/miniconda/Miniconda3-latest-Windows-x86_64.exe$installDir = "C:\Users\$env:USERNAME\miniconda3"
Start-Process -Wait .\Miniconda3-latest-Windows-x86_64.exe -ArgumentList "/S", "/D=$installDir"C:\Users\$env:USERNAME\miniconda3\Scripts\conda.exe init powershellReopen PowerShell and verify:
conda --versionGraphical install (optional): download the installer from the official site https://repo.anaconda.com/miniconda/Miniconda3-latest-Windows-x86_64.exe, double-click to install, and check "Add to PATH".
If the
condacommand is not found, use Anaconda Prompt (Start menu) instead of PowerShell.
Step 2: Configure a Domestic conda Mirror (Mainland China networks)
Clear the default channels first, then add the Tsinghua mirror (a fresh Miniconda ships with the official repo.anaconda.com channel, which triggers a ToS check and is slow):
conda config --remove-key channelsconda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
conda config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
pkgs/freehas been taken offline (404); do not add it. If your network is unrestricted, you can skip this step.
Step 3: Create a Virtual Environment
conda create -y -n lerobot python=3.12
conda activate lerobotpython --version
python -c "import struct; print(struct.calcsize('P')*8, 'bit')"Expect
Python 3.12.x+64 bit. Ifconda activateshows no(lerobot)prefix, see the troubleshooting section at the end.
Step 4: Install ffmpeg (required for video decoding)
LeRobot relies on ffmpeg to record and replay video data:
conda install ffmpeg -c conda-forge -yIf it is slow on domestic networks, use the Tsinghua conda-forge channel you already configured. Skipping this will cause errors when recording data or playing back video.
Step 5: Install Project Dependencies
cd D:\Project\lerobot-main
pip install -e ".[amazinghand]"amazinghand includes: feetech-servo-sdk (arm motors), rustypot (hand motors), pygame (calibration GUI), pyserial (serial ports).
If pip is slow, configure a domestic mirror first:
pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simpleStep 6: Verify the Environment
python -c "import scservo_sdk, rustypot, pygame, serial, lerobot; print('all OK')"
lerobot-calibrate-amazing-hand --helpIt should display
all OKandusage: lerobot-calibrate-amazing-hand ....
Step 7: Confirm the Serial Ports
lerobot-find-portIn Device Manager → Ports (COM & LPT), confirm the COM numbers of the three devices (examples COM54/COM58/COM11, which must be replaced with your actual values). COM numbers change after unplugging and replugging, so rerun this to confirm.
Done → Stage 2: Calibration
Troubleshooting
| Symptom | Solution |
|---|---|
conda is not recognized as a command | Reopen the terminal / use Anaconda Prompt / conda init powershell |
| ToS error (repo.anaconda.com) | Step 2: clear the channels and keep only the Tsinghua mirror; or run conda tos accept ... |
pkgs/free 404 | That channel is offline; do not add it |
conda activate shows no prefix | Execution policy issue, see below |
| Dependencies fail to install / are slow | Configure a domestic pip mirror (see the note in step 5) |
conda activate shows no (lerobot) prefix (common on Windows):
Set-ExecutionPolicy -Scope Process -ExecutionPolicy Bypass
& "D:\Software\Miniconda3\shell\condabin\conda-hook.ps1"
conda activate lerobotReplace
D:\Software\Miniconda3with your Miniconda installation path.