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Add arguments for cameras

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This commit is contained in:
glannuzel
2025-08-11 17:37:42 +02:00
parent 091fbd824e
commit 0c8b0a7cf0
1 changed files with 35 additions and 129 deletions
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src/lerobot/robots/reachy2/configuration_reachy2.py
+35 -129
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@@ -29,19 +29,35 @@ class Reachy2RobotConfig(RobotConfig):
# the number of motors in your follower arms. # the number of motors in your follower arms.
max_relative_target: int | None = None max_relative_target: int | None = None
ip_address: str | None = "localhost" ip_address: str | None = "localhost"
# Tag for external commands control
# Set to True if you use an external commands system to control the robot,
# such as the official teleoperation application: https://github.com/pollen-robotics/Reachy2Teleoperation
use_external_commands: bool = False use_external_commands: bool = False
# Robot parts
# Set to False to not add the corresponding joints part to the robot list of joints.
# By default, all parts are set to True.
with_mobile_base: bool = True with_mobile_base: bool = True
with_l_arm: bool = True with_l_arm: bool = True
with_r_arm: bool = True with_r_arm: bool = True
with_neck: bool = True with_neck: bool = True
with_antennas: bool = True with_antennas: bool = True
# Robot cameras
# Set to True if you want to use the corresponding cameras in the observations.
# By default, only the teleop cameras are used.
with_left_teleop_camera: bool = True
with_right_teleop_camera: bool = True
with_torso_camera: bool = False
mock: bool = False mock: bool = False
def __post_init__(self): def __post_init__(self):
# cameras # Add cameras
self.cameras: dict[str, CameraConfig] = { self.cameras: dict[str, CameraConfig] = {}
"teleop_left": Reachy2CameraConfig( if self.with_left_teleop_camera:
self.cameras["teleop_left"] = Reachy2CameraConfig(
name="teleop", name="teleop",
image_type="left", image_type="left",
ip_address=self.ip_address, ip_address=self.ip_address,
@@ -50,8 +66,9 @@ class Reachy2RobotConfig(RobotConfig):
height=480, height=480,
color_mode=ColorMode.RGB, color_mode=ColorMode.RGB,
rotation=Cv2Rotation.NO_ROTATION rotation=Cv2Rotation.NO_ROTATION
), )
"teleop_right": Reachy2CameraConfig( if self.with_right_teleop_camera:
self.cameras["teleop_right"] = Reachy2CameraConfig(
name="teleop", name="teleop",
image_type="right", image_type="right",
ip_address=self.ip_address, ip_address=self.ip_address,
@@ -60,128 +77,17 @@ class Reachy2RobotConfig(RobotConfig):
height=480, height=480,
color_mode=ColorMode.RGB, color_mode=ColorMode.RGB,
rotation=Cv2Rotation.NO_ROTATION rotation=Cv2Rotation.NO_ROTATION
), )
} if self.with_torso_camera:
self.cameras["torso_rgb"] = Reachy2CameraConfig(
name="depth",
image_type="rgb",
ip_address=self.ip_address,
fps=30,
width=640,
height=480,
color_mode=ColorMode.RGB,
rotation=Cv2Rotation.NO_ROTATION
)
super().__post_init__() super().__post_init__()
# # cameras
# cameras: dict[str, CameraConfig] = field(
# default_factory=lambda: {
# "teleop_left": Reachy2CameraConfig(
# name="teleop",
# image_type="left",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "teleop_right": Reachy2CameraConfig(
# name="teleop",
# image_type="right",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "torso_rgb": Reachy2CameraConfig(
# name="depth",
# image_type="rgb",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "torso_depth": Reachy2CameraConfig(
# name="depth",
# image_type="depth",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION,
# use_depth=True
# )
# # REAL ROBOT
# "teleop_left": Reachy2CameraConfig(
# name="teleop",
# image_type="left",
# ip_address="192.168.0.199",
# # ip_address="172.18.131.66",
# fps=30,
# width=960,
# height=720,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "teleop_right": Reachy2CameraConfig(
# name="teleop",
# image_type="right",
# ip_address="192.168.0.199",
# # ip_address="172.18.131.66",
# fps=30,
# width=960,
# height=720,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "torso_rgb": Reachy2CameraConfig(
# name="depth",
# image_type="rgb",
# ip_address="172.18.131.66",
# fps=30,
# width=1280,
# height=720,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# # REAL ROBOT REDUCED IMAGE SIZE
# "teleop_left": Reachy2CameraConfig(
# name="teleop",
# image_type="left",
# ip_address="192.168.0.199",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "teleop_right": Reachy2CameraConfig(
# name="teleop",
# image_type="right",
# ip_address="192.168.0.199",
# fps=30,
# width=640,
# height=480,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# # Reduced size for testing
# "teleop_left": Reachy2CameraConfig(
# name="teleop",
# image_type="left",
# ip_address="172.18.131.66",
# fps=30,
# width=480,
# height=360,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# "teleop_right": Reachy2CameraConfig(
# name="teleop",
# image_type="right",
# ip_address="172.18.131.66",
# fps=30,
# width=480,
# height=360,
# color_mode=ColorMode.RGB,
# rotation=Cv2Rotation.NO_ROTATION
# ),
# }
# )