Rename reachy2_teleoperator

docs/source/reachy2.mdx

@@ -64,7 +64,7 @@ python -m lerobot.record \
     --robot.id=r2-0000 \
     --robot.use_external_commands=true \
     --robot.with_mobile_base=false \
-    --teleop.type=reachy2_fake_teleoperator \
+    --teleop.type=reachy2_teleoperator \
     --teleop.ip_address=192.168.0.200 \
     --teleop.with_mobile_base=false \
     --dataset.repo_id=pollen_robotics/record_test \
@@ -116,7 +116,7 @@ python -m lerobot.record \
     --robot.with_left_teleop_camera=true \
     --robot.with_right_teleop_camera=true \
     --robot.with_torso_camera=true \
-    --teleop.type=reachy2_fake_teleoperator \
+    --teleop.type=reachy2_teleoperator \
     --teleop.ip_address=192.168.0.200 \
     --teleop.with_mobile_base=false \
     --teleop.with_l_arm=true \

src/lerobot/teleoperators/reachy2_teleoperator/__init__.py

@@ -14,5 +14,5 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .config_reachy2_fake_teleoperator import Reachy2FakeTeleoperatorConfig
-from .reachy2_fake_teleoperator import Reachy2FakeTeleoperator
+from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
+from .reachy2_teleoperator import Reachy2Teleoperator

src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py

@@ -19,9 +19,9 @@ from dataclasses import dataclass
 from ..config import TeleoperatorConfig
 
 
-@TeleoperatorConfig.register_subclass("reachy2_fake_teleoperator")
+@TeleoperatorConfig.register_subclass("reachy2_teleoperator")
 @dataclass
-class Reachy2FakeTeleoperatorConfig(TeleoperatorConfig):
+class Reachy2TeleoperatorConfig(TeleoperatorConfig):
     # Port to connect to the arm
     ip_address: str | None = "localhost"
     with_mobile_base: bool = True

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

@@ -26,7 +26,7 @@ import time
 from reachy2_sdk import ReachySDK
 
 from ..teleoperator import Teleoperator
-from .config_reachy2_fake_teleoperator import Reachy2FakeTeleoperatorConfig
+from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
 
 logger = logging.getLogger(__name__)
 
@@ -71,15 +71,15 @@ REACHY2_VEL = {
 }
 
 
-class Reachy2FakeTeleoperator(Teleoperator):
+class Reachy2Teleoperator(Teleoperator):
     """
     [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
     """
 
-    config_class = Reachy2FakeTeleoperatorConfig
+    config_class = Reachy2TeleoperatorConfig
     name = "reachy2_specific"
 
-    def __init__(self, config: Reachy2FakeTeleoperatorConfig):
+    def __init__(self, config: Reachy2TeleoperatorConfig):
         super().__init__(config)
         self.config = config
         self.reachy: None | ReachySDK = None
@@ -142,12 +142,18 @@ class Reachy2FakeTeleoperator(Teleoperator):
         start = time.perf_counter()
 
         if self.reachy and self.is_connected:
-            joint_action = {k: self.reachy.joints_dict[v].goal_position for k, v in self.joints_dict.items()}
+            joint_action = {
+                k: self.reachy.joints[v].goal_position
+                for k, v in self.joints_dict.items()
+            }
             if not self.config.with_mobile_base:
                 dt_ms = (time.perf_counter() - start) * 1e3
                 logger.debug(f"{self} read action: {dt_ms:.1f}ms")
                 return joint_action
-            vel_action = {k: self.reachy.mobile_base.last_cmd_vel[v] for k, v in REACHY2_VEL.items()}
+            vel_action = {
+                k: self.reachy.mobile_base.last_cmd_vel[v]
+                for k, v in REACHY2_VEL.items()
+            }
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
         return {**joint_action, **vel_action}

src/lerobot/teleoperators/utils.py

@@ -65,9 +65,9 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .bi_so100_leader import BiSO100Leader
 
         return BiSO100Leader(config)
-    elif config.type == "reachy2_fake_teleoperator":
-        from .reachy2_fake_teleoperator import Reachy2FakeTeleoperator
+    elif config.type == "reachy2_teleoperator":
+        from .reachy2_teleoperator import Reachy2Teleoperator
 
-        return Reachy2FakeTeleoperator(config)
+        return Reachy2Teleoperator(config)
     else:
         raise ValueError(config.type)