Apply suggestions from code review 1

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

lerobot/common/cameras/__init__.py

@@ -13,5 +13,5 @@
 # limitations under the License.
 
 from .camera import Camera
-from .configs import CameraConfig
+from .configs import CameraConfig, ColorMode
 from .utils import make_cameras_from_configs

lerobot/common/cameras/camera.py

@@ -33,7 +33,7 @@ class Camera(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def connect(self, do_warmup_read: bool = True) -> None:
+    def connect(self, warmup: bool = True) -> None:
         pass
 
     @abc.abstractmethod
@@ -41,7 +41,7 @@ class Camera(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def async_read(self, timeout_ms: float = 2000) -> np.ndarray:
+    def async_read(self, timeout_ms: float = ...) -> np.ndarray:
         pass
 
     @abc.abstractmethod

lerobot/common/cameras/opencv/configuration_opencv.py

@@ -53,7 +53,6 @@ class OpenCVCameraConfig(CameraConfig):
 
     index_or_path: int | Path
     color_mode: ColorMode = ColorMode.RGB
-    channels: int = 3  # NOTE(Steven): Why is this a config?
     rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION
 
     def __post_init__(self):

lerobot/common/utils/control_utils.py

@@ -38,7 +38,6 @@ from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import get_safe_torch_device, has_method
 
 
-# NOTE(Steven): Consider integrating this in camera class
 def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
     log_items = []
     if episode_index is not None: