feat(teleop): added zed support

Author: juelg

examples/teleop/franka.py

@@ -41,6 +41,9 @@
 #     "bird_eye": "243522070364",
 # }
 CAMERA_DICT = None
+ZED_CAMERA_DICT = {
+    "zed": "19928076",
+}
 MQ3_ADDR = "10.42.0.1"
 
 # DIGIT_DICT = {
@@ -93,6 +96,23 @@ def get_env():
                     for name, identifier in CAMERA_DICT.items()
                 },
             )
+        if ZED_CAMERA_DICT is not None:
+            camera_cfgs["zed"] = HardwareCameraCreatorConfig(
+                camera_type_id="zed",
+                camera_cfgs={
+                    name: BaseCameraConfig(
+                        identifier=identifier,
+                        resolution_width=1280,
+                        resolution_height=720,
+                        frame_rate=30,
+                    )
+                    for name, identifier in ZED_CAMERA_DICT.items()
+                },
+                kwargs={
+                    "enable_depth": False,
+                    "enable_imu": False,
+                },
+            )
         if DIGIT_DICT is not None:
             camera_cfgs["digit"] = HardwareCameraCreatorConfig(
                 camera_type_id="digit",

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -78,6 +78,23 @@ def _create_realsense_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera
     )
 
 
+def _create_zed_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera:
+    try:
+        from rcs.camera.hw import CalibrationStrategy
+        from rcs_zed.camera import ZEDCameraSet
+    except ImportError as e:
+        msg = "ZED camera support requires the `rcs_zed` extension to be installed."
+        raise ImportError(msg) from e
+
+    calibration_strategy = {
+        name: typing.cast(CalibrationStrategy, DummyCalibrationStrategy()) for name in cfg.camera_cfgs
+    }
+    return typing.cast(
+        HardwareCamera,
+        ZEDCameraSet(cameras=cfg.camera_cfgs, calibration_strategy=calibration_strategy, **cfg.kwargs),
+    )
+
+
 def _create_digit_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera:
     try:
         from rcs.camera.digit_cam import DigitCam
@@ -90,6 +107,7 @@ def _create_digit_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera:
 
 HARDWARE_CAMERA_CREATORS: dict[str, typing.Callable[[HardwareCameraCreatorConfig], HardwareCamera]] = {
     "realsense": _create_realsense_camera,
+    "zed": _create_zed_camera,
     "digit": _create_digit_camera,
 }