Rotate webcam image CCW 90° to match headset orientation

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

teleop/teleop_hand_and_arm.py

@@ -107,8 +107,9 @@ class ThreadedWebcam:
         self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
         # Minimize internal buffer so we always get the latest frame
         self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
-        self.actual_w = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-        self.actual_h = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        # After CCW 90° rotation, width and height are swapped
+        self.actual_w = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        self.actual_h = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
         self._frame = None
         self._lock = threading.Lock()
         self._stop = threading.Event()
@@ -116,9 +117,11 @@ class ThreadedWebcam:
         self._thread.start()
 
     def _capture_loop(self):
+        import cv2
         while not self._stop.is_set():
             ret, frame = self.cap.read()
             if ret:
+                frame = cv2.rotate(frame, cv2.ROTATE_90_COUNTERCLOCKWISE)
                 with self._lock:
                     self._frame = frame