From 096cdeb8ad994bcc1a71be659327a63290b671ee Mon Sep 17 00:00:00 2001 From: glannuzel Date: Tue, 29 Jul 2025 14:40:10 +0200 Subject: [PATCH] Future depth work --- .../reachy2_camera/configuration_reachy2_camera.py | 1 + src/lerobot/robots/reachy2/configuration_reachy2.py | 10 ++++++++++ 2 files changed, 11 insertions(+) diff --git a/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py b/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py index 0a2111ca2..56bedec0a 100644 --- a/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py +++ b/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py @@ -56,6 +56,7 @@ class Reachy2CameraConfig(CameraConfig): rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION ip_address: str | None = "localhost" port: int = 50065 + # use_depth: bool = False def __post_init__(self): if self.color_mode not in ["rgb", "bgr"]: diff --git a/src/lerobot/robots/reachy2/configuration_reachy2.py b/src/lerobot/robots/reachy2/configuration_reachy2.py index e232c8cb7..778390bc0 100644 --- a/src/lerobot/robots/reachy2/configuration_reachy2.py +++ b/src/lerobot/robots/reachy2/configuration_reachy2.py @@ -61,6 +61,16 @@ class Reachy2RobotConfig(RobotConfig): color_mode=ColorMode.RGB, rotation=Cv2Rotation.NO_ROTATION ), + # "torso_depth": Reachy2CameraConfig( + # name="depth", + # image_type="depth", + # fps=30, + # width=640, + # height=480, + # color_mode=ColorMode.RGB, + # rotation=Cv2Rotation.NO_ROTATION, + # use_depth=True + # ) } )