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Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

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* chore: update .gitignore

* chore: update pre-commit

* chore(deps): update pyproject

* fix(ci): multiple fixes

* chore: pre-commit apply

* chore: address review comments

* Update pyproject.toml

Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* chore(deps): add todo

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
This commit is contained in:
Steven Palma
2025-07-17 14:30:20 +02:00
committed by GitHub
parent 0938a1d816
commit 378e1f0338
78 changed files with 1450 additions and 636 deletions
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59
docs/source/cameras.mdx
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@@ -7,11 +7,13 @@ LeRobot offers multiple options for video capture, including phone cameras, buil
To instantiate a camera, you need a camera identifier. This identifier might change if you reboot your computer or re-plug your camera, a behavior mostly dependant on your operating system.
To find the camera indices of the cameras plugged into your system, run the following script:
```bash
python -m lerobot.find_cameras opencv # or realsense for Intel Realsense cameras
```
The output will look something like this if you have two cameras connected:
```
--- Detected Cameras ---
Camera #0:
@@ -31,7 +33,6 @@ Camera #0:
> [!WARNING]
> When using Intel RealSense cameras in `macOS`, you could get this [error](https://github.com/IntelRealSense/librealsense/issues/12307): `Error finding RealSense cameras: failed to set power state`, this can be solved by running the same command with `sudo` permissions. Note that using RealSense cameras in `macOS` is unstable.
## Use Cameras
Below are two examples, demonstrating how to work with the API.
@@ -39,10 +40,10 @@ Below are two examples, demonstrating how to work with the API.
- **Asynchronous frame capture** using an OpenCV-based camera
- **Color and depth capture** using an Intel RealSense camera
<hfoptions id="shell_restart">
<hfoption id="Open CV Camera">
<!-- prettier-ignore-start -->
```python
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.cameras.opencv.camera_opencv import OpenCVCamera
@@ -70,10 +71,12 @@ try:
finally:
camera.disconnect()
```
<!-- prettier-ignore-end -->
</hfoption>
<hfoption id="Intel Realsense Camera">
<!-- prettier-ignore-start -->
```python
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig
from lerobot.cameras.realsense.camera_realsense import RealSenseCamera
@@ -103,15 +106,18 @@ try:
finally:
camera.disconnect()
```
<!-- prettier-ignore-end -->
</hfoption>
</hfoptions>
## Use your phone
<hfoptions id="use phone">
<hfoption id="Mac">
To use your iPhone as a camera on macOS, enable the Continuity Camera feature:
- Ensure your Mac is running macOS 13 or later, and your iPhone is on iOS 16 or later.
- Sign in both devices with the same Apple ID.
- Connect your devices with a USB cable or turn on Wi-Fi and Bluetooth for a wireless connection.
@@ -125,40 +131,67 @@ Your iPhone should be detected automatically when running the camera setup scrip
If you want to use your phone as a camera on Linux, follow these steps to set up a virtual camera
1. *Install `v4l2loopback-dkms` and `v4l-utils`*. Those packages are required to create virtual camera devices (`v4l2loopback`) and verify their settings with the `v4l2-ctl` utility from `v4l-utils`. Install them using:
1. _Install `v4l2loopback-dkms` and `v4l-utils`_. Those packages are required to create virtual camera devices (`v4l2loopback`) and verify their settings with the `v4l2-ctl` utility from `v4l-utils`. Install them using:
<!-- prettier-ignore-start -->
```python
sudo apt install v4l2loopback-dkms v4l-utils
```
2. *Install [DroidCam](https://droidcam.app) on your phone*. This app is available for both iOS and Android.
3. *Install [OBS Studio](https://obsproject.com)*. This software will help you manage the camera feed. Install it using [Flatpak](https://flatpak.org):
<!-- prettier-ignore-end -->
2. _Install [DroidCam](https://droidcam.app) on your phone_. This app is available for both iOS and Android.
3. _Install [OBS Studio](https://obsproject.com)_. This software will help you manage the camera feed. Install it using [Flatpak](https://flatpak.org):
<!-- prettier-ignore-start -->
```python
flatpak install flathub com.obsproject.Studio
```
4. *Install the DroidCam OBS plugin*. This plugin integrates DroidCam with OBS Studio. Install it with:
<!-- prettier-ignore-end -->
4. _Install the DroidCam OBS plugin_. This plugin integrates DroidCam with OBS Studio. Install it with:
<!-- prettier-ignore-start -->
```python
flatpak install flathub com.obsproject.Studio.Plugin.DroidCam
```
5. *Start OBS Studio*. Launch with:
<!-- prettier-ignore-end -->
5. _Start OBS Studio_. Launch with:
<!-- prettier-ignore-start -->
```python
flatpak run com.obsproject.Studio
```
6. *Add your phone as a source*. Follow the instructions [here](https://droidcam.app/obs/usage). Be sure to set the resolution to `640x480`.
7. *Adjust resolution settings*. In OBS Studio, go to `File > Settings > Video`. Change the `Base(Canvas) Resolution` and the `Output(Scaled) Resolution` to `640x480` by manually typing it in.
8. *Start virtual camera*. In OBS Studio, follow the instructions [here](https://obsproject.com/kb/virtual-camera-guide).
9. *Verify the virtual camera setup*. Use `v4l2-ctl` to list the devices:
<!-- prettier-ignore-end -->
6. _Add your phone as a source_. Follow the instructions [here](https://droidcam.app/obs/usage). Be sure to set the resolution to `640x480`.
7. _Adjust resolution settings_. In OBS Studio, go to `File > Settings > Video`. Change the `Base(Canvas) Resolution` and the `Output(Scaled) Resolution` to `640x480` by manually typing it in.
8. _Start virtual camera_. In OBS Studio, follow the instructions [here](https://obsproject.com/kb/virtual-camera-guide).
9. _Verify the virtual camera setup_. Use `v4l2-ctl` to list the devices:
<!-- prettier-ignore-start -->
```python
v4l2-ctl --list-devices
```
<!-- prettier-ignore-end -->
You should see an entry like:
```
VirtualCam (platform:v4l2loopback-000):
/dev/video1
```
10. *Check the camera resolution*. Use `v4l2-ctl` to ensure that the virtual camera output resolution is `640x480`. Change `/dev/video1` to the port of your virtual camera from the output of `v4l2-ctl --list-devices`.
10. _Check the camera resolution_. Use `v4l2-ctl` to ensure that the virtual camera output resolution is `640x480`. Change `/dev/video1` to the port of your virtual camera from the output of `v4l2-ctl --list-devices`.
<!-- prettier-ignore-start -->
```python
v4l2-ctl -d /dev/video1 --get-fmt-video
```
<!-- prettier-ignore-end -->
You should see an entry like:
```
>>> Format Video Capture:
>>> Width/Height : 640/480