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Revert "depth(ZMQ): excluding ZMQ from depth support"

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This reverts commit b95cf4e4c2.
This commit is contained in:
CarolinePascal
2026-06-25 11:05:05 +02:00
parent b95cf4e4c2
commit 5f0d3f55cd
1 changed files with 8 additions and 2 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
+8 -2
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@@ -225,7 +225,10 @@ class UnitreeG1(Robot):
features: dict[str, tuple] = {}
for cam in self.cameras:
cfg = self.config.cameras[cam]
features[cam] = (cfg.height, cfg.width, 3)
if getattr(cfg, "use_rgb", True):
features[cam] = (cfg.height, cfg.width, 3)
if getattr(cfg, "use_depth", False):
features[f"{cam}_depth"] = (cfg.height, cfg.width, 1)
return features
@cached_property
@@ -460,7 +463,10 @@ class UnitreeG1(Robot):
# Cameras - read images from ZMQ cameras
for cam_name, cam in self._cameras.items():
obs[cam_name] = cam.read_latest()
if getattr(cam, "use_rgb", True):
obs[cam_name] = cam.read_latest()
if getattr(cam, "use_depth", False):
obs[f"{cam_name}_depth"] = cam.read_latest_depth()
return obs