update

hand_tracker_app/main.py

@@ -11,13 +11,13 @@ import threading
 import cv2
 import numpy as np
 from reachy_mini import ReachyMini, ReachyMiniApp
-from reachy_mini.utils.camera import find_camera
 from scipy.spatial.transform import Rotation as R
 
 from hand_tracker_app.hand_tracker import HandTracker
 
 gui = False  # Set to True if you want to use the GUI for debugging
 
+
 class HandTrackerApp(ReachyMiniApp):
     # Proportional gain for the controller
     # Reduce/Increase to make the head movement smoother or more responsive)
@@ -32,19 +32,15 @@ class HandTrackerApp(ReachyMiniApp):
     kz = 0.04
 
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
-        cap = find_camera()
-        if cap is None:
-            raise RuntimeError("No camera found. Please connect a camera.")
-
         hand_tracker = HandTracker()
 
         head_pose = np.eye(4)
         euler_rot = np.array([0.0, 0.0, 0.0])
 
         while not stop_event.is_set():
-            success, img = cap.read()
+            img = reachy_mini.media.get_frame()
 
-            if not success:
+            if img is None:
                 print("Failed to capture image from camera.")
                 continue
 

pyproject.toml

@@ -11,8 +11,8 @@ readme = "README.md"
 requires-python = ">=3.8"
 # dependencies = ["reachy-mini"]
 dependencies = [
-    "reachy-mini@git+https://github.com/pollen-robotics/reachy_mini",
-    "mediapipe",
+    "reachy-mini",
+    "reachy-mini-toolbox[vision]>=1.0.1"
 ]
 
 [project.entry-points."reachy_mini_apps"]