chore(cameras): move connect under is_connected

lerobot/common/cameras/opencv/camera_opencv.py

@@ -141,30 +141,6 @@ class OpenCVCamera(Camera):
         """Checks if the camera is currently connected and opened."""
         return isinstance(self.videocapture, cv2.VideoCapture) and self.videocapture.isOpened()
 
-    def _configure_capture_settings(self) -> None:
-        """
-        Applies the specified FPS, width, and height settings to the connected camera.
-
-        This method attempts to set the camera properties via OpenCV. It checks if
-        the camera successfully applied the settings and raises an error if not.
-
-        Args:
-            fps: The desired frames per second. If None, the setting is skipped.
-            width: The desired capture width. If None, the setting is skipped.
-            height: The desired capture height. If None, the setting is skipped.
-
-        Raises:
-            RuntimeError: If the camera fails to set any of the specified properties
-                          to the requested value.
-            DeviceNotConnectedError: If the camera is not connected when attempting
-                                     to configure settings.
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"Cannot configure settings for {self} as it is not connected.")
-
-        self._validate_fps()
-        self._validate_width_and_height()
-
     def connect(self, warmup: bool = True):
         """
         Connects to the OpenCV camera specified in the configuration.
@@ -203,6 +179,30 @@ class OpenCVCamera(Camera):
 
         logger.debug(f"Camera {self.index_or_path} connected and configured successfully.")
 
+    def _configure_capture_settings(self) -> None:
+        """
+        Applies the specified FPS, width, and height settings to the connected camera.
+
+        This method attempts to set the camera properties via OpenCV. It checks if
+        the camera successfully applied the settings and raises an error if not.
+
+        Args:
+            fps: The desired frames per second. If None, the setting is skipped.
+            width: The desired capture width. If None, the setting is skipped.
+            height: The desired capture height. If None, the setting is skipped.
+
+        Raises:
+            RuntimeError: If the camera fails to set any of the specified properties
+                          to the requested value.
+            DeviceNotConnectedError: If the camera is not connected when attempting
+                                     to configure settings.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"Cannot configure settings for {self} as it is not connected.")
+
+        self._validate_fps()
+        self._validate_width_and_height()
+
     def _validate_fps(self) -> None:
         """Validates and sets the camera's frames per second (FPS)."""
 

lerobot/common/cameras/realsense/camera_realsense.py

@@ -156,6 +156,44 @@ class RealSenseCamera(Camera):
         """Checks if the camera pipeline is started and streams are active."""
         return self.rs_pipeline is not None and self.rs_profile is not None
 
+    def connect(self, warmup: bool = True):
+        """
+        Connects to the RealSense camera specified in the configuration.
+
+        Initializes the RealSense pipeline, configures the required streams (color
+        and optionally depth), starts the pipeline, and validates the actual stream settings.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the camera is already connected.
+            ValueError: If the configuration is invalid (e.g., missing serial/name, name not unique).
+            ConnectionError: If the camera is found but fails to start the pipeline or no RealSense devices are detected at all.
+            RuntimeError: If the pipeline starts but fails to apply requested settings.
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
+
+        self.rs_pipeline = rs.pipeline()
+        rs_config = self._make_rs_pipeline_config()
+
+        try:
+            self.rs_profile = self.rs_pipeline.start(rs_config)
+            logger.debug(f"Successfully started pipeline for camera {self.serial_number}.")
+        except RuntimeError as e:
+            self.rs_profile = None
+            self.rs_pipeline = None
+            raise ConnectionError(
+                f"Failed to open {self} camera. Run 'python -m find_cameras' for details about the available cameras in your system."
+            ) from e
+
+        logger.debug(f"Validating stream configuration for {self}...")
+        self._validate_capture_settings()
+
+        if warmup:
+            logger.debug(f"Reading a warm-up frame for {self}...")
+            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X frames/secs
+
+        logger.info(f"{self} connected.")
+
     @staticmethod
     def find_cameras() -> List[Dict[str, Any]]:
         """
@@ -285,44 +323,6 @@ class RealSenseCamera(Camera):
                 self.rs_profile.get_stream(rs.stream.depth).as_video_stream_profile()
             )
 
-    def connect(self, warmup: bool = True):
-        """
-        Connects to the RealSense camera specified in the configuration.
-
-        Initializes the RealSense pipeline, configures the required streams (color
-        and optionally depth), starts the pipeline, and validates the actual stream settings.
-
-        Raises:
-            DeviceAlreadyConnectedError: If the camera is already connected.
-            ValueError: If the configuration is invalid (e.g., missing serial/name, name not unique).
-            ConnectionError: If the camera is found but fails to start the pipeline or no RealSense devices are detected at all.
-            RuntimeError: If the pipeline starts but fails to apply requested settings.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} is already connected.")
-
-        self.rs_pipeline = rs.pipeline()
-        rs_config = self._make_rs_pipeline_config()
-
-        try:
-            self.rs_profile = self.rs_pipeline.start(rs_config)
-            logger.debug(f"Successfully started pipeline for camera {self.serial_number}.")
-        except RuntimeError as e:
-            self.rs_profile = None
-            self.rs_pipeline = None
-            raise ConnectionError(
-                f"Failed to open {self} camera. Run 'python -m find_cameras' for details about the available cameras in your system."
-            ) from e
-
-        logger.debug(f"Validating stream configuration for {self}...")
-        self._validate_capture_settings()
-
-        if warmup:
-            logger.debug(f"Reading a warm-up frame for {self}...")
-            self.read()  # NOTE(Steven): For now we just read one frame, we could also loop for X frames/secs
-
-        logger.info(f"{self} connected.")
-
     def _validate_fps(self, stream: rs.video_stream_profile) -> None:
         """Validates and sets the internal FPS based on actual stream FPS."""
         actual_fps = stream.fps()