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Merge pull request #7 from pollen-robotics/6-choose-cameras-in-config

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6 choose cameras in config
This commit is contained in:
Gaëlle Lannuzel
2025-08-11 17:40:08 +02:00
committed by GitHub
parent 091fbd824e 44cdd5ac90
commit 58be04d46d
4 changed files with 55 additions and 147 deletions
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src/lerobot/cameras/reachy2_camera/reachy2_camera.py
+3 -3
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@@ -139,14 +139,14 @@ class Reachy2Camera(Camera):
if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"): if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"):
if self.config.image_type == "left": if self.config.image_type == "left":
frame = self.cam_manager.teleop.get_frame(CameraView.LEFT)[0] frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0]
elif self.config.image_type == "right": elif self.config.image_type == "right":
frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT)[0] frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0]
elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"): elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"):
if self.config.image_type == "depth": if self.config.image_type == "depth":
frame = self.cam_manager.depth.get_depth_frame()[0] frame = self.cam_manager.depth.get_depth_frame()[0]
elif self.config.image_type == "rgb": elif self.config.image_type == "rgb":
frame = self.cam_manager.depth.get_frame()[0] frame = self.cam_manager.depth.get_frame(size=(640, 480))[0]
if frame is None: if frame is None:
return None return None
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
# ),
# }
# )
src/lerobot/robots/reachy2/robot_reachy2.py
+8 -7
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@@ -86,8 +86,7 @@ class Reachy2Robot(Robot):
self.logs = {} self.logs = {}
self.joints_dict: dict[str, str] = {} self.joints_dict: dict[str, str] = self._generate_joints_dict()
self.generate_joints_dict()
@property @property
def observation_features(self) -> dict: def observation_features(self) -> dict:
@@ -142,15 +141,17 @@ class Reachy2Robot(Robot):
def calibrate(self) -> None: def calibrate(self) -> None:
pass pass
def generate_joints_dict(self) -> dict[str, str]: def _generate_joints_dict(self) -> dict[str, str]:
self.joints = {}
if self.config.with_neck: if self.config.with_neck:
self.joints_dict.update(REACHY2_NECK_JOINTS) self.joints.update(REACHY2_NECK_JOINTS)
if self.config.with_l_arm: if self.config.with_l_arm:
self.joints_dict.update(REACHY2_L_ARM_JOINTS) self.joints.update(REACHY2_L_ARM_JOINTS)
if self.config.with_r_arm: if self.config.with_r_arm:
self.joints_dict.update(REACHY2_R_ARM_JOINTS) self.joints.update(REACHY2_R_ARM_JOINTS)
if self.config.with_antennas: if self.config.with_antennas:
self.joints_dict.update(REACHY2_ANTENNAS_JOINTS) self.joints.update(REACHY2_ANTENNAS_JOINTS)
return self.joints
def _get_state(self) -> dict: def _get_state(self) -> dict:
pos_dict = {k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()} pos_dict = {k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()}
src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py
+9 -8
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@@ -85,18 +85,19 @@ class Reachy2FakeTeleoperator(Teleoperator):
self.config = config self.config = config
self.reachy: None | ReachySDK = None self.reachy: None | ReachySDK = None
self.joints_dict: dict[str, str] = {} self.joints_dict: dict[str, str] = self._generate_joints_dict()
self.generate_joints_dict()
def generate_joints_dict(self) -> dict[str, str]: def _generate_joints_dict(self) -> dict[str, str]:
self.joints = {}
if self.config.with_neck: if self.config.with_neck:
self.joints_dict.update(REACHY2_NECK_JOINTS) self.joints.update(REACHY2_NECK_JOINTS)
if self.config.with_l_arm: if self.config.with_l_arm:
self.joints_dict.update(REACHY2_L_ARM_JOINTS) self.joints.update(REACHY2_L_ARM_JOINTS)
if self.config.with_r_arm: if self.config.with_r_arm:
self.joints_dict.update(REACHY2_R_ARM_JOINTS) self.joints.update(REACHY2_R_ARM_JOINTS)
if self.config.with_antennas: if self.config.with_antennas:
self.joints_dict.update(REACHY2_ANTENNAS_JOINTS) self.joints.update(REACHY2_ANTENNAS_JOINTS)
return self.joints
@property @property
def action_features(self) -> dict[str, type]: def action_features(self) -> dict[str, type]:
@@ -138,7 +139,7 @@ class Reachy2FakeTeleoperator(Teleoperator):
def get_action(self) -> dict[str, float]: def get_action(self) -> dict[str, float]:
start = time.perf_counter() start = time.perf_counter()
joint_action = {k: self.reachy.joints[v].goal_position for k, v in REACHY2_JOINTS.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: if not self.config.with_mobile_base:
dt_ms = (time.perf_counter() - start) * 1e3 dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms") logger.debug(f"{self} read action: {dt_ms:.1f}ms")