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refactor(cameras): cameras API extension (#2808)

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* feat(cameras): add new read_latest() method

* fix(cameras): fix threading bug + clear state

* refactor(cameras): multiple improvements

* feat(camera): add context manager to camera base class

* chore(camera): slight modifications to opencv

* test(cameras): update opencv tests according to the changes

* refactor(cameras): reflect desing changes to realsense + deal with depth

* test(cameras): fix realsense tests accordingly to new changes

* refactor(cameras): update reachymini and zmq accordingly

* chore: wrap resource sensitive examples into a try/finally

* test(cameras): add test for new read_latest

* test(cameras): fix problem with image artifact in opencv tests

* test(cameras): fix test_read_latest_high_frequency expectations

* Apply suggestions from code review 1

Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* chore(cameras): address feedback

* feat(cameras): add max_age_ms check in read_latest

* test(cameras): fix read_latest tests

* chore(redundancies): removing redundancies in Reachy 2 camera class

* fix(warmup): replacing the arbitrary time.sleep in by an actual warmup in the RealSense camera class

* chore(format): formatting latest changes

* chore(warning): adding a "to be implemented" warning for read_latest() in Camera base class

* chore(warning): making read_latest() warning message shorter and clearer

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
This commit is contained in:
Steven Palma
2026-01-29 04:07:47 -06:00
committed by GitHub
parent 4483184875
commit 3409ef0dc2
21 changed files with 1179 additions and 641 deletions
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7
src/lerobot/scripts/lerobot_calibrate.py
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@@ -86,8 +86,11 @@ def calibrate(cfg: CalibrateConfig):
device = make_teleoperator_from_config(cfg.device)
device.connect(calibrate=False)
device.calibrate()
device.disconnect()
try:
device.calibrate()
finally:
device.disconnect()
def main():

29
src/lerobot/scripts/lerobot_replay.py
View File

@@ -110,25 +110,26 @@ def replay(cfg: ReplayConfig):
robot.connect()
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(len(episode_frames)):
start_episode_t = time.perf_counter()
try:
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(len(episode_frames)):
start_episode_t = time.perf_counter()
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features[ACTION]["names"]):
action[name] = action_array[i]
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features[ACTION]["names"]):
action[name] = action_array[i]
robot_obs = robot.get_observation()
robot_obs = robot.get_observation()
processed_action = robot_action_processor((action, robot_obs))
processed_action = robot_action_processor((action, robot_obs))
_ = robot.send_action(processed_action)
_ = robot.send_action(processed_action)
dt_s = time.perf_counter() - start_episode_t
precise_sleep(max(1 / dataset.fps - dt_s, 0.0))
robot.disconnect()
dt_s = time.perf_counter() - start_episode_t
precise_sleep(max(1 / dataset.fps - dt_s, 0.0))
finally:
robot.disconnect()
def main():