using only teleop camera for now

pollen-robotics · Nov 26, 2024 · b0d0508 · b0d0508
1 parent 81fadfb
commit b0d0508
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Showing 3 changed files with 18 additions and 14 deletions.
diff --git a/lerobot/common/robot_devices/cameras/reachy2.py b/lerobot/common/robot_devices/cameras/reachy2.py
@@ -70,17 +70,20 @@ def read(self) -> np.ndarray:
 
         if self.name == "teleop" and hasattr(self.cam_manager, "teleop"):
             if self.image_type == "left":
-                return self.cam_manager.teleop.get_compressed_frame(CameraView.LEFT)
+                return self.cam_manager.teleop.get_frame(CameraView.LEFT)
+                # return self.cam_manager.teleop.get_compressed_frame(CameraView.LEFT)
             elif self.image_type == "right":
-                return self.cam_manager.teleop.get_compressed_frame(CameraView.RIGHT)
+                return self.cam_manager.teleop.get_frame(CameraView.RIGHT)
+                # return self.cam_manager.teleop.get_compressed_frame(CameraView.RIGHT)
             else:
                 return None
         elif self.name == "depth" and hasattr(self.cam_manager, "depth"):
 
             if self.image_type == "depth":
                 return self.cam_manager.depth.get_depth_frame()
             elif self.image_type == "rgb":
-                return self.cam_manager.depth.get_compressed_frame()
+                return self.cam_manager.depth.get_frame()
+                # return self.cam_manager.depth.get_compressed_frame()
             else:
                 return None
         return None
diff --git a/lerobot/common/robot_devices/robots/reachy2.py b/lerobot/common/robot_devices/robots/reachy2.py
@@ -25,12 +25,13 @@
 from lerobot.common.robot_devices.cameras.utils import Camera
 
 
+
 @dataclass
 class ReachyRobotConfig:
     robot_type: str | None = "Reachy2"
     cameras: dict[str, Camera] = field(default_factory=lambda: {})
-    # ip_address: str | None = "172.17.135.207"
-    ip_address: str | None = "localhost"
+    ip_address: str | None = "172.17.135.207"
+    # ip_address: str | None = "localhost"
 
 
 class ReachyRobot:

diff --git a/lerobot/configs/robot/reachy2.yaml b/lerobot/configs/robot/reachy2.yaml
@@ -13,8 +13,8 @@ cameras:
   head_left:
     _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
     name: teleop
-    # host: 172.17.135.207
-    host: localhost
+    host: 172.17.135.207
+    # host: localhost
     port: 50065
     image_type: left
   # head_right:
@@ -23,13 +23,13 @@ cameras:
   #   host: 172.17.135.207
   #   port: 50065
   #   image_type: right
-  torso_rgb:
-    _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
-    name: depth
-    # host: 172.17.135.207
-    host: localhost
-    port: 50065
-    image_type: rgb
+  # torso_rgb:
+  #   _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
+  #   name: depth
+  #   host: 172.17.135.207
+  #   # host: localhost
+  #   port: 50065
+  #   image_type: rgb
   # torso_depth:
   #   _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
   #   name: depth