    def init_cameras(self, name_serial_dict=None):
        """Init both wrist cameras."""
        if self.cap is not None:  # close cameras if they are already open
            self.close_cameras()

        self.cap = OrderedDict()
        for cam_name, cam_serial in name_serial_dict.items():
            cap = VideoCapture(
                RSCapture(name=cam_name, serial_number=cam_serial, depth=False)
            )
            self.cap[cam_name] = cap
Init both wrist cameras.
serl_robot_infra/franka_env/envs/franka_env.py