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chore(cameras): fix imports renamed folder + add camera configs in utility scripts

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This commit is contained in:
Steven Palma
2025-05-20 16:39:17 +02:00
parent 9812f2db09
commit 525cd68e62
10 changed files with 14 additions and 8 deletions
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2
lerobot/calibrate.py
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@@ -31,6 +31,8 @@ from pprint import pformat
import draccus 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 from lerobot.common.robots import ( # noqa: F401
Robot, Robot,
RobotConfig, RobotConfig,

2
lerobot/common/cameras/realsense/camera_realsense.py
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@@ -67,7 +67,7 @@ class RealSenseCamera(Camera):
Example: Example:
```python ```python
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
from lerobot.common.cameras import ColorMode from lerobot.common.cameras import ColorMode
# Basic usage with serial number # Basic usage with serial number

2
lerobot/common/cameras/utils.py
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@@ -37,7 +37,7 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
cameras[key] = OpenCVCamera(cfg) cameras[key] = OpenCVCamera(cfg)
elif cfg.type == "intelrealsense": elif cfg.type == "intelrealsense":
from .intel.camera_realsense import RealSenseCamera from .realsense.camera_realsense import RealSenseCamera
cameras[key] = RealSenseCamera(cfg) cameras[key] = RealSenseCamera(cfg)
else: else:

2
lerobot/common/robots/stretch3/configuration_stretch3.py
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@@ -15,8 +15,8 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from lerobot.common.cameras import CameraConfig from lerobot.common.cameras import CameraConfig
from lerobot.common.cameras.intel import RealSenseCameraConfig
from lerobot.common.cameras.opencv import OpenCVCameraConfig from lerobot.common.cameras.opencv import OpenCVCameraConfig
from lerobot.common.cameras.realsense import RealSenseCameraConfig
from ..config import RobotConfig from ..config import RobotConfig

4
lerobot/find_cameras.py
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@@ -36,10 +36,10 @@ import numpy as np
from PIL import Image from PIL import Image
from lerobot.common.cameras.configs import ColorMode 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.camera_opencv import OpenCVCamera
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig 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__) logger = logging.getLogger(__name__)

2
lerobot/record.py
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@@ -45,6 +45,8 @@ import rerun as rr
from lerobot.common.cameras import ( # noqa: F401 from lerobot.common.cameras import ( # noqa: F401
CameraConfig, # 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.image_writer import safe_stop_image_writer
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import build_dataset_frame, hw_to_dataset_features from lerobot.common.datasets.utils import build_dataset_frame, hw_to_dataset_features

2
lerobot/teleoperate.py
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@@ -38,6 +38,8 @@ import draccus
import numpy as np import numpy as np
import rerun as rr 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 from lerobot.common.robots import ( # noqa: F401
Robot, Robot,
RobotConfig, RobotConfig,

2
tests/cameras/test_opencv.py
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@@ -30,7 +30,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
# NOTE(Steven): more tests + assertions? # NOTE(Steven): more tests + assertions?
TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras" 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_IMAGE_PATHS = [
TEST_ARTIFACTS_DIR / "image_160x120.png", TEST_ARTIFACTS_DIR / "image_160x120.png",
TEST_ARTIFACTS_DIR / "image_320x180.png", TEST_ARTIFACTS_DIR / "image_320x180.png",

2
tests/cameras/test_realsense.py
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@@ -29,7 +29,7 @@ from lerobot.common.cameras.configs import Cv2Rotation
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
try: try:
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
except (ImportError, ModuleNotFoundError): except (ImportError, ModuleNotFoundError):
pytest.skip("pyrealsense2 not available", allow_module_level=True) pytest.skip("pyrealsense2 not available", allow_module_level=True)

2
tests/utils.py
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@@ -223,7 +223,7 @@ def make_camera(camera_type: str, **kwargs) -> Camera:
elif camera_type == "intelrealsense": elif camera_type == "intelrealsense":
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER) serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
kwargs["serial_number"] = 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) config = RealSenseCameraConfig(**kwargs)
return RealSenseCamera(config) return RealSenseCamera(config)