From 5f0d3f55cd152636ae2d134ecd2b35f6d97737cb Mon Sep 17 00:00:00 2001 From: CarolinePascal Date: Thu, 25 Jun 2026 11:05:05 +0200 Subject: [PATCH] Revert "depth(ZMQ): excluding ZMQ from depth support" This reverts commit b95cf4e4c2bb1c188263bbcdcfbd6f3aea034ecb. --- src/lerobot/robots/unitree_g1/unitree_g1.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index febe39f85..5b8be0941 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -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