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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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examples/backward_compatibility/replay.py
+16 -15
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@@ -81,24 +81,25 @@ def replay(cfg: ReplayConfig):
actions = dataset.hf_dataset.select_columns(ACTION)
robot.connect()
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(dataset.num_frames):
start_episode_t = time.perf_counter()
try:
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(dataset.num_frames):
start_episode_t = time.perf_counter()
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features[ACTION]["names"]):
key = f"{name.removeprefix('main_')}.pos"
action[key] = action_array[i].item()
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features[ACTION]["names"]):
key = f"{name.removeprefix('main_')}.pos"
action[key] = action_array[i].item()
action["shoulder_lift.pos"] = -(action["shoulder_lift.pos"] - 90)
action["elbow_flex.pos"] -= 90
robot.send_action(action)
action["shoulder_lift.pos"] = -(action["shoulder_lift.pos"] - 90)
action["elbow_flex.pos"] -= 90
robot.send_action(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()
if __name__ == "__main__":