From 80b1a97e4cb4f870f98deb2b6d6470cdc5606d2c Mon Sep 17 00:00:00 2001
From: yutang <yt.li2@siat.ac.cn>
Date: Thu, 12 Jun 2025 17:56:21 +0800
Subject: [PATCH] change opencv to realsense camera

---
 .../common/robot_devices/robots/configs.py    | 48 +++++++++----------
 1 file changed, 23 insertions(+), 25 deletions(-)

diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py
index 778cbe62..0869a577 100644
--- a/lerobot/common/robot_devices/robots/configs.py
+++ b/lerobot/common/robot_devices/robots/configs.py
@@ -708,18 +708,33 @@ class RealmanRobotConfig(RobotConfig):
 
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
-            "one": OpenCVCameraConfig(
-                camera_index=4,
-                fps=30,
-                width=640,
-                height=480,
-            ),
-            # "two": IntelRealSenseCameraConfig(
-            #     camera_index=2,
+            # "one": OpenCVCameraConfig(
+            #     camera_index=4,
             #     fps=30,
             #     width=640,
             #     height=480,
             # ),
+            "left": IntelRealSenseCameraConfig(
+                serial_number="153122077516",
+                fps=30,
+                width=640,
+                height=480,
+                use_depth=False
+            ),
+            "right": IntelRealSenseCameraConfig(
+                serial_number="405622075165",
+                fps=30,
+                width=640,
+                height=480,
+                use_depth=False
+            ),
+            "front": IntelRealSenseCameraConfig(
+                serial_number="145422072751",
+                fps=30,
+                width=640,
+                height=480,
+                use_depth=False
+            ),
         }
     )
 
@@ -741,20 +756,3 @@ class RealmanRobotConfig(RobotConfig):
     #         )
     #     }
     # )
-
-    # cameras: dict[str, CameraConfig] = field(
-    #     default_factory=lambda: {
-    #         "one": OpenCVCameraConfig(
-    #             camera_index=0,
-    #             fps=30,
-    #             width=640,
-    #             height=480,
-    #         ),
-    #         "two": OpenCVCameraConfig(
-    #             camera_index=2,
-    #             fps=30,
-    #             width=640,
-    #             height=480,
-    #         ),
-    #     }
-    # )