admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-16 00:59:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Import joints dict from classes

Browse Source
This commit is contained in:
glannuzel
2025-09-03 12:42:47 +02:00
parent bc88445eae
commit a539ccb92c
5 changed files with 34 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/robots/test_reachy2.py
+9 -27
View File
@@ -20,39 +20,21 @@ import numpy as np
import pytest
from lerobot.robots.reachy2 import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Robot,
Reachy2RobotConfig,
)
# {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = {
"neck_yaw.pos": "head.neck.yaw",
"neck_pitch.pos": "head.neck.pitch",
"neck_roll.pos": "head.neck.roll",
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
"r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
"r_shoulder_roll.pos": "r_arm.shoulder.roll",
"r_elbow_yaw.pos": "r_arm.elbow.yaw",
"r_elbow_pitch.pos": "r_arm.elbow.pitch",
"r_wrist_roll.pos": "r_arm.wrist.roll",
"r_wrist_pitch.pos": "r_arm.wrist.pitch",
"r_wrist_yaw.pos": "r_arm.wrist.yaw",
"r_gripper.pos": "r_arm.gripper",
"l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
"l_shoulder_roll.pos": "l_arm.shoulder.roll",
"l_elbow_yaw.pos": "l_arm.elbow.yaw",
"l_elbow_pitch.pos": "l_arm.elbow.pitch",
"l_wrist_roll.pos": "l_arm.wrist.roll",
"l_wrist_pitch.pos": "l_arm.wrist.pitch",
"l_wrist_yaw.pos": "l_arm.wrist.yaw",
"l_gripper.pos": "l_arm.gripper",
}
REACHY2_VEL = {
"mobile_base.vx": "vx",
"mobile_base.vy": "vy",
"mobile_base.vtheta": "vtheta",
**REACHY2_NECK_JOINTS,
**REACHY2_ANTENNAS_JOINTS,
**REACHY2_R_ARM_JOINTS,
**REACHY2_L_ARM_JOINTS,
}
PARAMS = [
tests/teleoperators/test_reachy2_teleoperator.py
+9 -27
View File
@@ -19,39 +19,21 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.teleoperators.reachy2_teleoperator import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Teleoperator,
Reachy2TeleoperatorConfig,
)
# {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = {
"neck_yaw.pos": "head.neck.yaw",
"neck_pitch.pos": "head.neck.pitch",
"neck_roll.pos": "head.neck.roll",
"l_antenna.pos": "head.l_antenna",
"r_antenna.pos": "head.r_antenna",
"r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
"r_shoulder_roll.pos": "r_arm.shoulder.roll",
"r_elbow_yaw.pos": "r_arm.elbow.yaw",
"r_elbow_pitch.pos": "r_arm.elbow.pitch",
"r_wrist_roll.pos": "r_arm.wrist.roll",
"r_wrist_pitch.pos": "r_arm.wrist.pitch",
"r_wrist_yaw.pos": "r_arm.wrist.yaw",
"r_gripper.pos": "r_arm.gripper",
"l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
"l_shoulder_roll.pos": "l_arm.shoulder.roll",
"l_elbow_yaw.pos": "l_arm.elbow.yaw",
"l_elbow_pitch.pos": "l_arm.elbow.pitch",
"l_wrist_roll.pos": "l_arm.wrist.roll",
"l_wrist_pitch.pos": "l_arm.wrist.pitch",
"l_wrist_yaw.pos": "l_arm.wrist.yaw",
"l_gripper.pos": "l_arm.gripper",
}
REACHY2_VEL = {
"mobile_base.vx": "vx",
"mobile_base.vy": "vy",
"mobile_base.vtheta": "vtheta",
**REACHY2_NECK_JOINTS,
**REACHY2_ANTENNAS_JOINTS,
**REACHY2_R_ARM_JOINTS,
**REACHY2_L_ARM_JOINTS,
}
PARAMS = [