admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-20 11:09:59 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix observation state

Browse Source
This commit is contained in:
glannuzel
2025-07-29 10:18:47 +02:00
parent 32b08a242d
commit 6acb6bd3e5
1 changed files with 16 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/robots/reachy2/robot_reachy2.py
+16 -12
View File
@@ -60,7 +60,9 @@ REACHY2_MOTORS = {
class Reachy2Robot(Robot): class Reachy2Robot(Robot):
"""[Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.""" """
[Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
"""
config_class = Reachy2RobotConfig config_class = Reachy2RobotConfig
name = "reachy2" name = "reachy2"
@@ -115,11 +117,10 @@ class Reachy2Robot(Robot):
# for cam in self.cameras.values(): # for cam in self.cameras.values():
# cam.connect() # cam.connect()
# self.is_connected = self.is_connected and cam.is_connected
if not self.is_connected: # if not self.is_connected:
print("Could not connect to the cameras, check that all cameras are plugged-in.") # print("Could not connect to the cameras, check that all cameras are plugged-in.")
raise ConnectionError() # raise ConnectionError()
self.configure() self.configure()
@@ -142,17 +143,19 @@ class Reachy2Robot(Robot):
# Read Reachy 2 state # Read Reachy 2 state
before_read_t = time.perf_counter() before_read_t = time.perf_counter()
state = self._get_state() obs_dict = self._get_state()
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
state = np.asarray(list(state.values())) # state = np.asarray(list(state.values()))
obs_dict[OBS_STATE] = state # obs_dict[OBS_STATE] = state
# Capture images from cameras # Capture images from cameras
# for cam_key, cam in self.cameras.items(): # for cam_key, cam in self.cameras.items():
# before_camread_t = time.perf_counter() # before_camread_t = time.perf_counter()
# obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read() # frame = cam.async_read(timeout_ms=200)
# self.logs[f"read_camera_{cam_key}_dt_s"] = cam.logs["delta_timestamp_s"] # print(f"Async frame shape:", frame.shape)
# obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read(timeout_ms=200)
# self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t # self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t
return obs_dict return obs_dict
@@ -167,7 +170,8 @@ class Reachy2Robot(Robot):
raise KeyError(f"Key '{key}' is not a valid motor key in Reachy 2.") raise KeyError(f"Key '{key}' is not a valid motor key in Reachy 2.")
else: else:
self.reachy.joints[REACHY2_MOTORS[key]].goal_position = val self.reachy.joints[REACHY2_MOTORS[key]].goal_position = val
self.reachy.send_goal_positions() # # We don't want the teleoperator reachy2_specific to send the goal positions
# self.reachy.send_goal_positions()
self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
return action return action