Windows

Connect the camera and the computer

lerobot-find-cameras opencv

Teleoperate and display the camera feed

lerobot-teleoperate --robot.type=so101_follower --robot.port=COM6 --robot.id=my_follower_arm --robot.cameras="{ front: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 60, fourcc: "MJPG"}}" --teleop.type=so101_leader --teleop.port=COM7 --teleop.id=my_leader_arm --display_data=true

A rerun.io window opens, displaying the trajectory of each servo joint and the live camera feed in real time

The images are also saved to the C:\Users\<username>\outputs\captured_images directory

If you encounter the following error

The camera cannot be connected, but switching cameras in Tencent Meeting can still open it normally

Modify the lerobot\src\lerobot\cameras\utils.py file and change the OpenCV backend to cv2.CAP_SHOW

This is a bug that even Doubao cannot solve. It is because the lerobot library is wrapped too deeply, making it very hard for beginners to debug.

wx_camera_1768139334330.mp4

Connect multiple cameras, teleoperate and display the camera feed

lerobot-teleoperate --robot.type=so101_follower --robot.port=COM6 --robot.id=my_follower_arm --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 60, fourcc: "MJPG"}, side: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 60, fourcc: "MJPG"}}" --teleop.type=so101_leader --teleop.port=COM7 --teleop.id=my_leader_arm --display_data=true