I integrated two cameras into my LeRobot teleoperation system today: a desk wide-shot camera for monitoring the workspace and recording demonstrations, and a claw camera for the SO-101 arm to be able to see what it's doing, although it was a bit tricky to get everything set up correctly. You may have seen these cameras used in my previous post about getting teleoperation working on the robot arm, but at that time, the cameras were not yet integrated into the system.
The main struggles I had with setting up the cameras were getting the claw camera to connect properly to the teleoperation system and figuring out how to get the wire connecting the claw camera to my USB hub to not disconnect whenever I rotated the wrist too far to the left or right. I ended up using a longer USB hub so that claw camera had more leeway to move around without disconnecting, and after a few hours of what can be best described as a debugging wild goose chase, I was able to get the claw camera to connect properly after changing my video processing codec from YUYV to MJPG (which is a less resource intensive codec that helped the system handle two cameras once) and figuring out that at some point, the claw camera had decided to switch from an index of 2 to an index of 3.
After getting the cameras to work, I was able to test out the teleoperation system with both cameras and it worked well. The desk camera provided a good overview of the workspace, while the claw camera allowed for precise control of the robot arm. Overall, it was a challenging but rewarding experience to get the cameras integrated into the teleoperation system, and I'm excited to get started with training the robot soon.