feat(robots): use read_latest() camera (#2987)

* feat(robots): use read_latest() camera

* fix(test): add read_latest reachy cam mock

src/lerobot/cameras/camera.py

@@ -150,7 +150,7 @@ class Camera(abc.ABC):
         """
         pass
 
-    def read_latest(self, max_age_ms: int = 1000) -> NDArray[Any]:
+    def read_latest(self, max_age_ms: int = 500) -> NDArray[Any]:
         """Return the most recent frame captured immediately (Peeking).
 
         This method is non-blocking and returns whatever is currently in the

src/lerobot/cameras/opencv/camera_opencv.py

@@ -530,7 +530,7 @@ class OpenCVCamera(Camera):
         return frame
 
     @check_if_not_connected
-    def read_latest(self, max_age_ms: int = 1000) -> NDArray[Any]:
+    def read_latest(self, max_age_ms: int = 500) -> NDArray[Any]:
         """Return the most recent frame captured immediately (Peeking).
 
         This method is non-blocking and returns whatever is currently in the

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

@@ -201,7 +201,7 @@ class Reachy2Camera(Camera):
         return self.read()
 
     @check_if_not_connected
-    def read_latest(self, max_age_ms: int = 1000) -> NDArray[Any]:
+    def read_latest(self, max_age_ms: int = 500) -> NDArray[Any]:
         """Return the most recent frame captured immediately (Peeking).
 
         This method is non-blocking and returns whatever is currently in the

src/lerobot/cameras/realsense/camera_realsense.py

@@ -573,7 +573,7 @@ class RealSenseCamera(Camera):
 
     # NOTE(Steven): Missing implementation for depth for now
     @check_if_not_connected
-    def read_latest(self, max_age_ms: int = 1000) -> NDArray[Any]:
+    def read_latest(self, max_age_ms: int = 500) -> NDArray[Any]:
         """Return the most recent (color) frame captured immediately (Peeking).
 
         This method is non-blocking and returns whatever is currently in the

src/lerobot/robots/hope_jr/hope_jr_arm.py

@@ -140,7 +140,7 @@ class HopeJrArm(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/hope_jr/hope_jr_hand.py

@@ -171,7 +171,7 @@ class HopeJrHand(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/koch_follower/koch_follower.py

@@ -193,7 +193,7 @@ class KochFollower(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/lekiwi/lekiwi.py

@@ -360,7 +360,7 @@ class LeKiwi(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/omx_follower/omx_follower.py

@@ -176,7 +176,7 @@ class OmxFollower(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/openarm_follower/openarm_follower.py

@@ -241,7 +241,7 @@ class OpenArmFollower(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -180,7 +180,7 @@ class Reachy2Robot(Robot):
 
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
 
         return obs_dict
 

src/lerobot/robots/so_follower/so_follower.py

@@ -187,7 +187,7 @@ class SOFollower(Robot):
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
+            obs_dict[cam_key] = cam.read_latest()
             dt_ms = (time.perf_counter() - start) * 1e3
             logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
 

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -324,7 +324,7 @@ class UnitreeG1(Robot):
 
         # Cameras - read images from ZMQ cameras
         for cam_name, cam in self._cameras.items():
-            obs[cam_name] = cam.async_read()
+            obs[cam_name] = cam.read_latest()
 
         return obs
 

tests/robots/test_reachy2.py

@@ -142,6 +142,7 @@ def _make_reachy2_camera_mock(*args, **kwargs):
     cam.connect = MagicMock()
     cam.disconnect = MagicMock()
     cam.async_read = MagicMock(side_effect=lambda: np.zeros((height, width, 3), dtype=np.uint8))
+    cam.read_latest = MagicMock(side_effect=lambda: np.zeros((height, width, 3), dtype=np.uint8))
     return cam