Rotate wrist camera images: left 90° CCW, right 90° CCW

Wrist cameras are mounted sideways on the robot, so the raw images
need rotation to display upright in the Quest VR camera dashboard.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

server/retarget_bridge.py

@@ -624,11 +624,11 @@ def start_camera_relay(server, zmq_port=55555):
         except Exception:
             pass
 
-    # SHM name -> (camera_id, jpeg_quality)
+    # SHM name -> (camera_id, jpeg_quality, cv2_rotation or None)
     CAMERAS = [
-        ("head",  0, 85),
-        ("left",  1, 70),
-        ("right", 2, 70),
+        ("head",  0, 85, None),
+        ("left",  1, 70, cv2.ROTATE_90_COUNTERCLOCKWISE),
+        ("right", 2, 70, cv2.ROTATE_90_COUNTERCLOCKWISE),
     ]
 
     def _relay_loop():
@@ -640,7 +640,7 @@ def start_camera_relay(server, zmq_port=55555):
         logger.info("Camera relay: waiting for Isaac Sim shared memory...")
         # Wait for at least one camera
         while not active_cameras:
-            for name, cam_id, quality in CAMERAS:
+            for name, cam_id, quality, rotation in CAMERAS:
                 img = reader.read_single_image(name)
                 if img is not None:
                     active_cameras.add(name)
@@ -654,7 +654,7 @@ def start_camera_relay(server, zmq_port=55555):
 
         while True:
             try:
-                for name, cam_id, quality in CAMERAS:
+                for name, cam_id, quality, rotation in CAMERAS:
                     if name not in active_cameras:
                         # Periodically retry missing cameras
                         if frame_counts["head"] % 150 == 0:
@@ -671,6 +671,8 @@ def start_camera_relay(server, zmq_port=55555):
                         cur_ts = reader.last_timestamps.get(name, 0)
                         if cur_ts > last_ts[name]:
                             last_ts[name] = cur_ts
+                            if rotation is not None:
+                                img = cv2.rotate(img, rotation)
                             ok, buf = cv2.imencode(".jpg", img, [cv2.IMWRITE_JPEG_QUALITY, quality])
                             if ok:
                                 server.set_webcam_frame(buf.tobytes(), camera_id=cam_id)