admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-15 00:29:52 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #5 from pollen-robotics/separate-parts-in-config

Browse Source 
Separate parts in config
This commit is contained in:
Gaëlle Lannuzel
2025-08-11 10:22:32 +02:00
committed by GitHub
parent 20f5f45ac2 2379c3607a
commit 091fbd824e
6 changed files with 127 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/robots/reachy2/configuration_reachy2.py
+4
View File
@@ -31,6 +31,10 @@ class Reachy2RobotConfig(RobotConfig):
ip_address: str | None = "localhost"
use_external_commands: bool = False
with_mobile_base: bool = True
with_l_arm: bool = True
with_r_arm: bool = True
with_neck: bool = True
with_antennas: bool = True
mock: bool = False
src/lerobot/robots/reachy2/robot_reachy2.py
+35 -13
View File
@@ -26,10 +26,18 @@ from ..robot import Robot
from .configuration_reachy2 import Reachy2RobotConfig
# {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = {
REACHY2_NECK_JOINTS = {
"neck_yaw.pos": "head.neck.yaw",
"neck_pitch.pos": "head.neck.pitch",
"neck_roll.pos": "head.neck.roll",
}
REACHY2_ANTENNAS_JOINTS = {
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
}
REACHY2_R_ARM_JOINTS = {
"r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
"r_shoulder_roll.pos": "r_arm.shoulder.roll",
"r_elbow_yaw.pos": "r_arm.elbow.yaw",
@@ -38,6 +46,9 @@ REACHY2_JOINTS = {
"r_wrist_pitch.pos": "r_arm.wrist.pitch",
"r_wrist_yaw.pos": "r_arm.wrist.yaw",
"r_gripper.pos": "r_arm.gripper",
}
REACHY2_L_ARM_JOINTS = {
"l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
"l_shoulder_roll.pos": "l_arm.shoulder.roll",
"l_elbow_yaw.pos": "l_arm.elbow.yaw",
@@ -46,8 +57,6 @@ REACHY2_JOINTS = {
"l_wrist_pitch.pos": "l_arm.wrist.pitch",
"l_wrist_yaw.pos": "l_arm.wrist.yaw",
"l_gripper.pos": "l_arm.gripper",
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
}
REACHY2_VEL = {
@@ -77,6 +86,9 @@ class Reachy2Robot(Robot):
self.logs = {}
self.joints_dict: dict[str, str] = {}
self.generate_joints_dict()
@property
def observation_features(self) -> dict:
return {**self.motors_features, **self.camera_features}
@@ -95,14 +107,14 @@ class Reachy2Robot(Robot):
def motors_features(self) -> dict:
if self.config.with_mobile_base:
return {**dict.fromkeys(
REACHY2_JOINTS.keys(),
float,
), **dict.fromkeys(
REACHY2_VEL.keys(),
float,
)}
self.joints_dict.keys(),
float,
), **dict.fromkeys(
REACHY2_VEL.keys(),
float,
)}
else:
return dict.fromkeys(REACHY2_JOINTS.keys(), float)
return dict.fromkeys(self.joints_dict.keys(), float)
@property
def is_connected(self) -> bool:
@@ -130,8 +142,18 @@ class Reachy2Robot(Robot):
def calibrate(self) -> None:
pass
def generate_joints_dict(self) -> dict[str, str]:
if self.config.with_neck:
self.joints_dict.update(REACHY2_NECK_JOINTS)
if self.config.with_l_arm:
self.joints_dict.update(REACHY2_L_ARM_JOINTS)
if self.config.with_r_arm:
self.joints_dict.update(REACHY2_R_ARM_JOINTS)
if self.config.with_antennas:
self.joints_dict.update(REACHY2_ANTENNAS_JOINTS)
def _get_state(self) -> dict:
pos_dict = {k: self.reachy.joints[v].present_position for k, v in REACHY2_JOINTS.items()}
pos_dict = {k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()}
if not self.config.with_mobile_base:
return pos_dict
vel_dict = {k: self.reachy.mobile_base.odometry[v] for k, v in REACHY2_VEL.items()}
@@ -159,13 +181,13 @@ class Reachy2Robot(Robot):
vel = {}
for key, val in action.items():
if key not in REACHY2_JOINTS:
if key not in self.joints_dict:
if key not in REACHY2_VEL:
raise KeyError(f"Key '{key}' is not a valid motor key in Reachy 2.")
else:
vel[REACHY2_VEL[key]] = val
else:
self.reachy.joints[REACHY2_JOINTS[key]].goal_position = val
self.reachy.joints[self.joints_dict[key]].goal_position = val
if self.config.with_mobile_base:
self.reachy.mobile_base.set_goal_speed(vel["vx"], vel["vy"], vel["vtheta"])
src/lerobot/robots/reachy2/test_replay.py
+2
View File
@@ -44,6 +44,8 @@ l_arm_goal = [action["l_shoulder_pitch.pos"],
robot.reachy.head.goto(neck_goal)
robot.reachy.r_arm.goto(r_arm_goal)
robot.reachy.r_arm.gripper.goto(100.0, percentage=True)
robot.reachy.l_arm.gripper.goto(100.0, percentage=True)
robot.reachy.l_arm.goto(l_arm_goal, wait=True)
for idx in range(dataset.num_frames):
src/lerobot/robots/reachy2/test_robot_client.py
+47
View File
@@ -0,0 +1,47 @@
import threading
from lerobot.scripts.server.configs import RobotClientConfig
from lerobot.robots.reachy2 import Reachy2Robot, Reachy2RobotConfig
from lerobot.scripts.server.robot_client import RobotClient
from lerobot.scripts.server.helpers import visualize_action_queue_size
robot_config = Reachy2RobotConfig(
ip_address="192.168.0.199",
id="reachy2-pvt02",
with_mobile_base=False,
with_l_arm=False,
with_neck=False,
with_antennas=False,
)
# 3. Create client configuration
client_cfg = RobotClientConfig(
robot=robot_config,
server_address="localhost:8080",
policy_device="cuda",
policy_type="act",
pretrained_name_or_path="CarolinePascal/pick_and_place_bottle",
chunk_size_threshold=0.5,
actions_per_chunk=20, # make sure this is less than the max actions of the policy
)
# 4. Create and start client
client = RobotClient(client_cfg)
# 5. Specify the task
task = "Don't do anything, stay still"
if client.start():
# Start action receiver thread
action_receiver_thread = threading.Thread(target=client.receive_actions, daemon=True)
action_receiver_thread.start()
try:
# Run the control loop
client.control_loop(task)
except KeyboardInterrupt:
client.stop()
action_receiver_thread.join()
# (Optionally) plot the action queue size
visualize_action_queue_size(client.action_queue_size)
src/lerobot/teleoperators/reachy2_fake_teleoperator/config_reachy2_fake_teleoperator.py
+4
View File
@@ -25,3 +25,7 @@ class Reachy2FakeTeleoperatorConfig(TeleoperatorConfig):
# Port to connect to the arm
ip_address: str | None = "localhost"
with_mobile_base: bool = True
with_l_arm: bool = True
with_r_arm: bool = True
with_neck: bool = True
with_antennas: bool = True
src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py
+35 -13
View File
@@ -32,10 +32,18 @@ from .config_reachy2_fake_teleoperator import Reachy2FakeTeleoperatorConfig
logger = logging.getLogger(__name__)
# {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = {
REACHY2_NECK_JOINTS = {
"neck_yaw.pos": "head.neck.yaw",
"neck_pitch.pos": "head.neck.pitch",
"neck_roll.pos": "head.neck.roll",
}
REACHY2_ANTENNAS_JOINTS = {
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
}
REACHY2_R_ARM_JOINTS = {
"r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
"r_shoulder_roll.pos": "r_arm.shoulder.roll",
"r_elbow_yaw.pos": "r_arm.elbow.yaw",
@@ -44,6 +52,9 @@ REACHY2_JOINTS = {
"r_wrist_pitch.pos": "r_arm.wrist.pitch",
"r_wrist_yaw.pos": "r_arm.wrist.yaw",
"r_gripper.pos": "r_arm.gripper",
}
REACHY2_L_ARM_JOINTS = {
"l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
"l_shoulder_roll.pos": "l_arm.shoulder.roll",
"l_elbow_yaw.pos": "l_arm.elbow.yaw",
@@ -52,14 +63,12 @@ REACHY2_JOINTS = {
"l_wrist_pitch.pos": "l_arm.wrist.pitch",
"l_wrist_yaw.pos": "l_arm.wrist.yaw",
"l_gripper.pos": "l_arm.gripper",
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
}
REACHY2_VEL = {
"mobile_base.vx": "x",
"mobile_base.vy": "y",
"mobile_base.vtheta": "theta",
"mobile_base.vx": "vx",
"mobile_base.vy": "vy",
"mobile_base.vtheta": "vtheta",
}
@@ -76,18 +85,31 @@ class Reachy2FakeTeleoperator(Teleoperator):
self.config = config
self.reachy: None | ReachySDK = None
self.joints_dict: dict[str, str] = {}
self.generate_joints_dict()
def generate_joints_dict(self) -> dict[str, str]:
if self.config.with_neck:
self.joints_dict.update(REACHY2_NECK_JOINTS)
if self.config.with_l_arm:
self.joints_dict.update(REACHY2_L_ARM_JOINTS)
if self.config.with_r_arm:
self.joints_dict.update(REACHY2_R_ARM_JOINTS)
if self.config.with_antennas:
self.joints_dict.update(REACHY2_ANTENNAS_JOINTS)
@property
def action_features(self) -> dict[str, type]:
if self.config.with_mobile_base:
return {**dict.fromkeys(
REACHY2_JOINTS.keys(),
float,
), **dict.fromkeys(
REACHY2_VEL.keys(),
float,
)}
self.joints_dict.keys(),
float,
), **dict.fromkeys(
REACHY2_VEL.keys(),
float,
)}
else:
return dict.fromkeys(REACHY2_JOINTS.keys(), float)
return dict.fromkeys(self.joints_dict.keys(), float)
@property
def feedback_features(self) -> dict[str, type]: