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Add all rgb cameras

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This commit is contained in:
glannuzel
2025-07-29 14:25:15 +02:00
parent c9dc12106f
commit 042e34898a
2 changed files with 27 additions and 18 deletions
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src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py
-1
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@@ -13,7 +13,6 @@
# limitations under the License. # limitations under the License.
from dataclasses import dataclass from dataclasses import dataclass
from pathlib import Path
from ..configs import CameraConfig, ColorMode, Cv2Rotation from ..configs import CameraConfig, ColorMode, Cv2Rotation
src/lerobot/robots/reachy2/configuration_reachy2.py
+27 -17
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@@ -34,23 +34,33 @@ class Reachy2RobotConfig(RobotConfig):
# cameras # cameras
cameras: dict[str, CameraConfig] = field( cameras: dict[str, CameraConfig] = field(
default_factory=lambda: { default_factory=lambda: {
# "webcam": OpenCVCameraConfig( "teleop_left": Reachy2CameraConfig(
# index_or_path="/dev/video0", name="teleop",
# fps=30, image_type="left",
# width=640, fps=30,
# height=480, width=640,
# color_mode=ColorMode.RGB, height=480,
# rotation=Cv2Rotation.NO_ROTATION color_mode=ColorMode.RGB,
# ), rotation=Cv2Rotation.NO_ROTATION
"teleop_left": Reachy2CameraConfig( ),
name="teleop", "teleop_right": Reachy2CameraConfig(
image_type="left", name="teleop",
fps=30, image_type="right",
width=640, fps=30,
height=480, width=640,
color_mode=ColorMode.RGB, height=480,
rotation=Cv2Rotation.NO_ROTATION color_mode=ColorMode.RGB,
), rotation=Cv2Rotation.NO_ROTATION
),
"torso_rgb": Reachy2CameraConfig(
name="depth",
image_type="rgb",
fps=30,
width=640,
height=480,
color_mode=ColorMode.RGB,
rotation=Cv2Rotation.NO_ROTATION
),
} }
) )