From 525cd68e62c61667860018d354b6c32d83874a78 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Tue, 20 May 2025 16:39:17 +0200 Subject: [PATCH] chore(cameras): fix imports renamed folder + add camera configs in utility scripts --- lerobot/calibrate.py | 2 ++ lerobot/common/cameras/realsense/camera_realsense.py | 2 +- lerobot/common/cameras/utils.py | 2 +- lerobot/common/robots/stretch3/configuration_stretch3.py | 2 +- lerobot/find_cameras.py | 4 ++-- lerobot/record.py | 2 ++ lerobot/teleoperate.py | 2 ++ tests/cameras/test_opencv.py | 2 +- tests/cameras/test_realsense.py | 2 +- tests/utils.py | 2 +- 10 files changed, 14 insertions(+), 8 deletions(-) diff --git a/lerobot/calibrate.py b/lerobot/calibrate.py index 386082074..088aee299 100644 --- a/lerobot/calibrate.py +++ b/lerobot/calibrate.py @@ -31,6 +31,8 @@ from pprint import pformat import draccus +from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401 +from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401 from lerobot.common.robots import ( # noqa: F401 Robot, RobotConfig, diff --git a/lerobot/common/cameras/realsense/camera_realsense.py b/lerobot/common/cameras/realsense/camera_realsense.py index 90881f112..5db6d4179 100644 --- a/lerobot/common/cameras/realsense/camera_realsense.py +++ b/lerobot/common/cameras/realsense/camera_realsense.py @@ -67,7 +67,7 @@ class RealSenseCamera(Camera): Example: ```python - from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig + from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig from lerobot.common.cameras import ColorMode # Basic usage with serial number diff --git a/lerobot/common/cameras/utils.py b/lerobot/common/cameras/utils.py index 30f5dd69a..7ed3149e3 100644 --- a/lerobot/common/cameras/utils.py +++ b/lerobot/common/cameras/utils.py @@ -37,7 +37,7 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s cameras[key] = OpenCVCamera(cfg) elif cfg.type == "intelrealsense": - from .intel.camera_realsense import RealSenseCamera + from .realsense.camera_realsense import RealSenseCamera cameras[key] = RealSenseCamera(cfg) else: diff --git a/lerobot/common/robots/stretch3/configuration_stretch3.py b/lerobot/common/robots/stretch3/configuration_stretch3.py index 2c0a8b2cc..e62e4fa01 100644 --- a/lerobot/common/robots/stretch3/configuration_stretch3.py +++ b/lerobot/common/robots/stretch3/configuration_stretch3.py @@ -15,8 +15,8 @@ from dataclasses import dataclass, field from lerobot.common.cameras import CameraConfig -from lerobot.common.cameras.intel import RealSenseCameraConfig from lerobot.common.cameras.opencv import OpenCVCameraConfig +from lerobot.common.cameras.realsense import RealSenseCameraConfig from ..config import RobotConfig diff --git a/lerobot/find_cameras.py b/lerobot/find_cameras.py index 194957330..1d051d69b 100644 --- a/lerobot/find_cameras.py +++ b/lerobot/find_cameras.py @@ -36,10 +36,10 @@ import numpy as np from PIL import Image from lerobot.common.cameras.configs import ColorMode -from lerobot.common.cameras.intel.camera_realsense import RealSenseCamera -from lerobot.common.cameras.intel.configuration_realsense import RealSenseCameraConfig from lerobot.common.cameras.opencv.camera_opencv import OpenCVCamera from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig +from lerobot.common.cameras.realsense.camera_realsense import RealSenseCamera +from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig logger = logging.getLogger(__name__) diff --git a/lerobot/record.py b/lerobot/record.py index d4103e367..508b09292 100644 --- a/lerobot/record.py +++ b/lerobot/record.py @@ -45,6 +45,8 @@ import rerun as rr from lerobot.common.cameras import ( # noqa: F401 CameraConfig, # noqa: F401 ) +from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401 +from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401 from lerobot.common.datasets.image_writer import safe_stop_image_writer from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.utils import build_dataset_frame, hw_to_dataset_features diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py index e7e617fb9..f3496a69c 100644 --- a/lerobot/teleoperate.py +++ b/lerobot/teleoperate.py @@ -38,6 +38,8 @@ import draccus import numpy as np import rerun as rr +from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401 +from lerobot.common.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401 from lerobot.common.robots import ( # noqa: F401 Robot, RobotConfig, diff --git a/tests/cameras/test_opencv.py b/tests/cameras/test_opencv.py index 609c10c38..06db1ce72 100644 --- a/tests/cameras/test_opencv.py +++ b/tests/cameras/test_opencv.py @@ -30,7 +30,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte # NOTE(Steven): more tests + assertions? TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras" -DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "fakecam_sd_160x120.png" +DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "image_160x120.png" TEST_IMAGE_PATHS = [ TEST_ARTIFACTS_DIR / "image_160x120.png", TEST_ARTIFACTS_DIR / "image_320x180.png", diff --git a/tests/cameras/test_realsense.py b/tests/cameras/test_realsense.py index df11987b2..8e6f736e6 100644 --- a/tests/cameras/test_realsense.py +++ b/tests/cameras/test_realsense.py @@ -29,7 +29,7 @@ from lerobot.common.cameras.configs import Cv2Rotation from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError try: - from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig + from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig except (ImportError, ModuleNotFoundError): pytest.skip("pyrealsense2 not available", allow_module_level=True) diff --git a/tests/utils.py b/tests/utils.py index 918dc03be..bf3de0ed7 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -223,7 +223,7 @@ def make_camera(camera_type: str, **kwargs) -> Camera: elif camera_type == "intelrealsense": serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER) kwargs["serial_number"] = serial_number - from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig + from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig config = RealSenseCameraConfig(**kwargs) return RealSenseCamera(config)