refactor(camera): apply feedback

docs/source/cameras.mdx

@@ -164,6 +164,9 @@ includes the range reported by the sensor. Requesting an unsupported control als
 Omitted controls leave the sensor's existing automatic or manual setting unchanged. These options
 require `use_rgb=True`.
 
+On the RealSense D405, the color stream is provided by the Stereo Module, so changing manual
+exposure or gain also affects the depth stream.
+
 </hfoption>
 </hfoptions>
 

src/lerobot/cameras/realsense/camera_realsense.py

@@ -134,6 +134,9 @@ class RealSenseCamera(Camera):
         self.use_rgb = config.use_rgb
         self.use_depth = config.use_depth
         self.warmup_s = config.warmup_s
+        self.exposure: int | None = config.exposure
+        self.gain: int | None = config.gain
+        self.white_balance: int | None = config.white_balance
 
         self.rs_pipeline: rs.pipeline | None = None
         self.rs_profile: rs.pipeline_profile | None = None
@@ -175,7 +178,8 @@ class RealSenseCamera(Camera):
 
         Raises:
             DeviceAlreadyConnectedError: If the camera is already connected.
-            ValueError: If the configuration is invalid (e.g., missing serial/name, name not unique).
+            ValueError: If the configuration is invalid, a requested sensor option is unsupported,
+                or a requested sensor value is invalid.
             ConnectionError: If the camera is found but fails to start the pipeline or no RealSense devices are detected at all.
             RuntimeError: If the pipeline starts but fails to apply requested settings.
         """
@@ -400,16 +404,15 @@ class RealSenseCamera(Camera):
                 value is invalid. Invalid-value errors include the option name, requested
                 value, and supported range when available.
         """
-        config = self.config
-        if config.exposure is None and config.gain is None and config.white_balance is None:
+        if self.exposure is None and self.gain is None and self.white_balance is None:
             return
 
         color_sensor = self._get_color_sensor()
 
         requested_options = (
-            (rs.option.exposure, config.exposure, "exposure"),
-            (rs.option.gain, config.gain, "gain"),
-            (rs.option.white_balance, config.white_balance, "white balance"),
+            (rs.option.exposure, self.exposure, "exposure"),
+            (rs.option.gain, self.gain, "gain"),
+            (rs.option.white_balance, self.white_balance, "white balance"),
         )
         unsupported_options = [
             label
@@ -421,30 +424,40 @@ class RealSenseCamera(Camera):
                 f"{self}: color sensor does not support requested manual options: {unsupported_options}."
             )
 
-        if (config.exposure is not None or config.gain is not None) and color_sensor.supports(
-            rs.option.enable_auto_exposure
-        ):
-            self._set_sensor_option(color_sensor, rs.option.enable_auto_exposure, 0, "auto-exposure")
-            logger.info(f"{self} auto-exposure disabled.")
+        manual_exposure_requested = self.exposure is not None or self.gain is not None
+        if manual_exposure_requested:
+            if color_sensor.supports(rs.option.enable_auto_exposure):
+                self._set_sensor_option(color_sensor, rs.option.enable_auto_exposure, 0, "auto-exposure")
+                logger.info(f"{self} auto-exposure disabled.")
+            else:
+                logger.warning(
+                    f"{self} sensor does not support disabling auto-exposure; "
+                    "applying manual exposure/gain directly."
+                )
 
-        if config.exposure is not None:
-            self._set_sensor_option(color_sensor, rs.option.exposure, config.exposure, "exposure")
-            logger.info(f"{self} exposure set to {config.exposure}.")
+        if self.exposure is not None:
+            self._set_sensor_option(color_sensor, rs.option.exposure, self.exposure, "exposure")
+            logger.info(f"{self} exposure set to {self.exposure}.")
 
-        if config.gain is not None:
-            self._set_sensor_option(color_sensor, rs.option.gain, config.gain, "gain")
-            logger.info(f"{self} gain set to {config.gain}.")
+        if self.gain is not None:
+            self._set_sensor_option(color_sensor, rs.option.gain, self.gain, "gain")
+            logger.info(f"{self} gain set to {self.gain}.")
 
-        if config.white_balance is not None:
+        if self.white_balance is not None:
             if color_sensor.supports(rs.option.enable_auto_white_balance):
                 self._set_sensor_option(
                     color_sensor, rs.option.enable_auto_white_balance, 0, "auto white balance"
                 )
                 logger.info(f"{self} auto white balance disabled.")
+            else:
+                logger.warning(
+                    f"{self} sensor does not support disabling auto white balance; "
+                    "applying manual white balance directly."
+                )
             self._set_sensor_option(
-                color_sensor, rs.option.white_balance, config.white_balance, "white balance"
+                color_sensor, rs.option.white_balance, self.white_balance, "white balance"
             )
-            logger.info(f"{self} white balance set to {config.white_balance}.")
+            logger.info(f"{self} white balance set to {self.white_balance}.")
 
     @check_if_not_connected
     def read_depth(self, timeout_ms: int = 200) -> NDArray[Any]:

src/lerobot/cameras/realsense/configuration_realsense.py

@@ -47,14 +47,15 @@ class RealSenseCameraConfig(CameraConfig):
         rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
         warmup_s: Time reading frames before returning from connect (in seconds)
         exposure: Manual exposure value for the color sensor. When set, auto-exposure is
-            disabled and this fixed value is used. Valid range depends on the camera model
-            (e.g., 1-10000 for D400 series). Defaults to None (leave unchanged).
+            disabled and this fixed value is used. Valid ranges are camera-model specific
+            and reported if the value is rejected. Defaults to None (leave unchanged).
         gain: Manual gain value for the color sensor. When set, auto-exposure is disabled
-            and this fixed gain is used. Valid range depends on the camera model
-            (e.g., 16-248 for D400 series). Defaults to None (leave unchanged).
+            and this fixed gain is used, which also freezes exposure at its current value
+            when no exposure is configured. Valid ranges are camera-model specific and
+            reported if the value is rejected. Defaults to None (leave unchanged).
         white_balance: Manual white balance value for the color sensor. When set, auto
-            white balance is disabled and this fixed value is used. Valid range depends on
-            the camera model (e.g., 2800-6500 for D400 series). Defaults to None
+            white balance is disabled and this fixed value is used. Valid ranges are
+            camera-model specific and reported if the value is rejected. Defaults to None
             (leave unchanged).
 
     Note:

tests/cameras/test_realsense.py

@@ -347,14 +347,21 @@ def test_configure_sensor_options_raises_when_requested_option_is_unsupported(co
     sensor.set_option.assert_not_called()
 
 
-def test_configure_sensor_options_only_exposure_disables_auto_exposure():
+@pytest.mark.parametrize(
+    ("config_field", "option", "value"),
+    [
+        ("exposure", rs.option.exposure, 120),
+        ("gain", rs.option.gain, 64),
+    ],
+)
+def test_configure_sensor_options_exposure_or_gain_disables_auto_exposure(config_field, option, value):
     """white_balance=None should not touch auto white balance."""
-    config = RealSenseCameraConfig(serial_number_or_name="042", exposure=120)
+    config = RealSenseCameraConfig(serial_number_or_name="042", **{config_field: value})
     camera = RealSenseCamera(config)
 
     sensor = _make_mock_sensor(
         "RGB Camera",
-        supported_options={rs.option.enable_auto_exposure, rs.option.exposure},
+        supported_options={rs.option.enable_auto_exposure, option},
     )
     _attach_mock_color_sensor(camera, sensor)
 
@@ -362,12 +369,40 @@ def test_configure_sensor_options_only_exposure_disables_auto_exposure():
 
     calls = [call.args for call in sensor.set_option.call_args_list]
     assert (rs.option.enable_auto_exposure, 0) in calls
-    assert (rs.option.exposure, 120) in calls
+    assert (option, value) in calls
     for opt, _ in calls:
         assert opt != rs.option.enable_auto_white_balance
         assert opt != rs.option.white_balance
 
 
+def test_configure_sensor_options_warns_when_auto_exposure_control_is_unsupported(caplog):
+    config = RealSenseCameraConfig(serial_number_or_name="042", exposure=120)
+    camera = RealSenseCamera(config)
+
+    sensor = _make_mock_sensor("RGB Camera", supported_options={rs.option.exposure})
+    _attach_mock_color_sensor(camera, sensor)
+
+    with caplog.at_level("WARNING"):
+        camera._configure_sensor_options()
+
+    sensor.set_option.assert_called_once_with(rs.option.exposure, 120)
+    assert "does not support disabling auto-exposure" in caplog.text
+
+
+def test_configure_sensor_options_warns_when_auto_white_balance_control_is_unsupported(caplog):
+    config = RealSenseCameraConfig(serial_number_or_name="042", white_balance=4600)
+    camera = RealSenseCamera(config)
+
+    sensor = _make_mock_sensor("RGB Camera", supported_options={rs.option.white_balance})
+    _attach_mock_color_sensor(camera, sensor)
+
+    with caplog.at_level("WARNING"):
+        camera._configure_sensor_options()
+
+    sensor.set_option.assert_called_once_with(rs.option.white_balance, 4600)
+    assert "does not support disabling auto white balance" in caplog.text
+
+
 def test_configure_sensor_options_out_of_range_raises_value_error():
     """set_option errors should be re-raised as ValueError with range diagnostics."""
     config = RealSenseCameraConfig(serial_number_or_name="042", exposure=999999)