From b95cf4e4c2bb1c188263bbcdcfbd6f3aea034ecb Mon Sep 17 00:00:00 2001 From: CarolinePascal Date: Thu, 25 Jun 2026 10:47:28 +0200 Subject: [PATCH] depth(ZMQ): excluding ZMQ from depth support --- src/lerobot/robots/unitree_g1/unitree_g1.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 5b8be0941..febe39f85 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -225,10 +225,7 @@ class UnitreeG1(Robot): features: dict[str, tuple] = {} for cam in self.cameras: cfg = self.config.cameras[cam] - 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) + features[cam] = (cfg.height, cfg.width, 3) return features @cached_property @@ -463,10 +460,7 @@ class UnitreeG1(Robot): # Cameras - read images from ZMQ cameras for cam_name, cam in self._cameras.items(): - 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() + obs[cam_name] = cam.read_latest() return obs