refactor(cameras): realsense config arg serial_number_or_name

lerobot/common/cameras/realsense/camera_realsense.py

@@ -66,7 +66,7 @@ class RealSenseCamera(Camera):
         from lerobot.common.cameras import ColorMode
 
         # Basic usage with serial number
-        config = RealSenseCameraConfig(serial_number="1234567890") # Replace with actual SN
+        config = RealSenseCameraConfig(serial_number_or_name="1234567890") # Replace with actual SN
         camera = RealSenseCamera(config)
         camera.connect()
 
@@ -82,7 +82,7 @@ class RealSenseCamera(Camera):
 
         # Example with depth capture and custom settings
         custom_config = RealSenseCameraConfig(
-            serial_number="1234567890", # Replace with actual SN
+            serial_number_or_name="1234567890", # Replace with actual SN
             fps=30,
             width=1280,
             height=720,
@@ -99,7 +99,7 @@ class RealSenseCamera(Camera):
             depth_camera.disconnect()
 
         # Example using a unique camera name
-        name_config = RealSenseCameraConfig(name="Intel RealSense D435") # If unique
+        name_config = RealSenseCameraConfig(serial_number_or_name="Intel RealSense D435") # If unique
         name_camera = RealSenseCamera(name_config)
         # ... connect, read, disconnect ...
         ```
@@ -117,12 +117,10 @@ class RealSenseCamera(Camera):
 
         self.config = config
 
-        if config.name is not None:  # NOTE(Steven): Do we want to continue supporting this?
+        if isinstance(config.serial_number_or_name, int):
-            self.serial_number = self._find_serial_number_from_name(config.name)
+            self.serial_number = str(config.serial_number_or_name)
-        elif config.serial_number is not None:
-            self.serial_number = str(config.serial_number)
         else:
-            raise ValueError("RealSenseCameraConfig must provide either 'serial_number' or 'name'.")
+            self.serial_number = self._find_serial_number_from_name(config.serial_number_or_name)
 
         self.fps = config.fps
         self.color_mode = config.color_mode

lerobot/common/cameras/realsense/configuration_realsense.py

@@ -40,9 +40,7 @@ class RealSenseCameraConfig(CameraConfig):
         fps: Requested frames per second for the color stream.
         width: Requested frame width in pixels for the color stream.
         height: Requested frame height in pixels for the color stream.
-        name: Optional human-readable name to identify the camera.
+        serial_number_or_name: unique serial number or human-readable name to identify the camera.
-        serial_number: Optional unique serial number to identify the camera.
-                      Either name or serial_number must be provided.
         color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
         use_depth: Whether to enable depth stream. Defaults to False.
         rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
@@ -54,8 +52,7 @@ class RealSenseCameraConfig(CameraConfig):
         - Only 3-channel color output (RGB/BGR) is currently supported.
     """
 
-    name: str | None = None
+    serial_number_or_name: int | str
-    serial_number: int | None = None
     color_mode: ColorMode = ColorMode.RGB
     use_depth: bool = False
     rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION  # NOTE(Steven): Check if draccus can parse to an enum
@@ -75,8 +72,3 @@ class RealSenseCameraConfig(CameraConfig):
             raise ValueError(
                 f"`rotation` is expected to be in {(Cv2Rotation.NO_ROTATION, Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_180, Cv2Rotation.ROTATE_270)}, but {self.rotation} is provided."
             )
-
-        if bool(self.name) and bool(self.serial_number):
-            raise ValueError(
-                f"One of them must be set: name or serial_number, but {self.name=} and {self.serial_number=} provided."
-            )

tests/cameras/test_realsense.py

@@ -51,13 +51,13 @@ def mock_rs_config_enable_device_bad_file(rs_config_instance, sn):
 
 def test_abc_implementation():
     """Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     _ = RealSenseCamera(config)
 
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_connect(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
 
     camera.connect(warmup=False)
@@ -66,7 +66,7 @@ def test_connect(mock_enable_device):
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_connect_already_connected(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
@@ -76,7 +76,7 @@ def test_connect_already_connected(mock_enable_device):
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_bad_file)
 def test_connect_invalid_camera_path(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
 
     with pytest.raises(ConnectionError):
@@ -85,7 +85,7 @@ def test_connect_invalid_camera_path(mock_enable_device):
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_invalid_width_connect(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42, width=99999, height=480, fps=30)
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=99999, height=480, fps=30)
     camera = RealSenseCamera(config)
 
     with pytest.raises(ConnectionError):
@@ -94,7 +94,7 @@ def test_invalid_width_connect(mock_enable_device):
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_read(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
@@ -103,7 +103,7 @@ def test_read(mock_enable_device):
 
 
 def test_read_before_connect():
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
@@ -112,7 +112,7 @@ def test_read_before_connect():
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_disconnect(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
@@ -122,7 +122,7 @@ def test_disconnect(mock_enable_device):
 
 
 def test_disconnect_before_connect():
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
@@ -131,7 +131,7 @@ def test_disconnect_before_connect():
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_async_read(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
@@ -148,7 +148,7 @@ def test_async_read(mock_enable_device):
 
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_async_read_timeout(mock_enable_device):
-    config = RealSenseCameraConfig(serial_number=42, width=640, height=480, fps=30)
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)
 
@@ -163,7 +163,7 @@ def test_async_read_timeout(mock_enable_device):
 
 
 def test_async_read_before_connect():
-    config = RealSenseCameraConfig(serial_number=42)
+    config = RealSenseCameraConfig(serial_number_or_name=42)
     camera = RealSenseCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
@@ -182,7 +182,7 @@ def test_async_read_before_connect():
 )
 @patch("pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file)
 def test_rotation(mock_enable_device, rotation):
-    config = RealSenseCameraConfig(serial_number=42, rotation=rotation)
+    config = RealSenseCameraConfig(serial_number_or_name=42, rotation=rotation)
     camera = RealSenseCamera(config)
     camera.connect(warmup=False)