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Divide joints in multiple dicts

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This commit is contained in:
glannuzel
2025-08-08 14:19:18 +02:00
parent 20f5f45ac2
commit 8236f7b52b
2 changed files with 38 additions and 13 deletions
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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
+34 -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 +86,8 @@ class Reachy2Robot(Robot):
self.logs = {}
self.joints_dict: dict[str, str] = {}
@property
def observation_features(self) -> dict:
return {**self.motors_features, **self.camera_features}
@@ -95,14 +106,14 @@ 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 +141,18 @@ 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 +180,13 @@ 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"])