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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/phone_to_so100/replay.py
+22 -20
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@@ -73,32 +73,34 @@ def main():
# Connect to the robot
robot.connect()
if not robot.is_connected:
raise ValueError("Robot is not connected!")
try:
if not robot.is_connected:
raise ValueError("Robot is not connected!")
print("Starting replay loop...")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(len(episode_frames)):
t0 = time.perf_counter()
print("Starting replay loop...")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(len(episode_frames)):
t0 = time.perf_counter()
# Get recorded action from dataset
ee_action = {
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
}
# Get recorded action from dataset
ee_action = {
name: float(actions[idx][ACTION][i])
for i, name in enumerate(dataset.features[ACTION]["names"])
}
# Get robot observation
robot_obs = robot.get_observation()
# Get robot observation
robot_obs = robot.get_observation()
# Dataset EE -> robot joints
joint_action = robot_ee_to_joints_processor((ee_action, robot_obs))
# Dataset EE -> robot joints
joint_action = robot_ee_to_joints_processor((ee_action, robot_obs))
# Send action to robot
_ = robot.send_action(joint_action)
# Send action to robot
_ = robot.send_action(joint_action)
precise_sleep(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
# Clean up
robot.disconnect()
precise_sleep(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
finally:
# Clean up
robot.disconnect()
if __name__ == "__main__":