simulated camera seems ok

lerobot/common/robot_devices/robots/reachy2.py

@@ -21,7 +21,7 @@ import numpy as np
 import torch
 from lerobot.common.robot_devices.cameras.utils import Camera
 from reachy2_sdk import ReachySDK
-
+from copy import copy
 
 
 
@@ -122,7 +122,7 @@ class ReachyRobot():
             images[name] = self.cameras[name].read() #Reachy cameras read() is not blocking?
             print(f'name: {name} img: {images[name]}')
             if images[name] is not None:
-                images[name] = torch.from_numpy(images[name][0])
+                images[name] = torch.from_numpy(copy(images[name][0])) #seems like I need to copy?
                 self.logs[f"read_camera_{name}_dt_s"] = images[name][1] #full timestamp, TODO dt
 
         # Populate output dictionnaries

lerobot/scripts/test_reachy.py

@@ -22,6 +22,7 @@ from lerobot.common.utils.utils import (init_hydra_config, init_logging,
                                         log_say, none_or_int)
 
 
+import time
 import cv2
 if __name__ == '__main__':
     init_logging()
@@ -35,3 +36,4 @@ if __name__ == '__main__':
 
     print(robot.get_state())
     print(robot.capture_observation())
+    time.sleep(6)