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Say that zed_2i_second is a ZED-M placeholder for a second ZED 2i #739

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Merged
v-positronic merged 2 commits into from
Sep 12, 2026
Merged

Say that zed_2i_second is a ZED-M placeholder for a second ZED 2i #739

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7abfc68
Say that zed_2i_second is a ZED-M placeholder for a second ZED 2i
v-positronic Sep 11, 2026
78c1783
Say what the camera is, and leave the replacement to the ticket
v-positronic Sep 12, 2026
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2 changes: 2 additions & 0 deletions positronic/cfg/hardware/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,14 @@ def zed(**kwargs):

zed_m = zed.override(serial_number=17521925)
zed_2i = zed.override(serial_number=39567055)
# Serial 13785037 is a ZED-M, so the name and the hardware disagree (Positronic-Robotics/internal#1297).
zed_2i_second = zed.override(serial_number=13785037)

_DROID_STREAM = {'view': 'left', 'resolution': 'hd720', 'fps': 30, 'image_enhancement': False}

droid = {keys.WRIST_IMAGE: zed_m.override(**_DROID_STREAM), keys.EXTERIOR_IMAGE: zed_2i.override(**_DROID_STREAM)}

# `exterior_2` runs on `zed_2i_second`, a ZED-M, so its optics differ from `exterior`.
droid_3cam = {**droid, keys.EXTERIOR_IMAGE_2: zed_2i_second.override(**_DROID_STREAM)}

# YAM station (brunello): ZED X overhead + two ZED X One wrist cameras on the ZED Link Duo.
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