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Import joints dict from classes

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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
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src/lerobot/robots/reachy2/__init__.py
+8 -1
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@@ -15,4 +15,11 @@
# limitations under the License. # limitations under the License.
from .configuration_reachy2 import Reachy2RobotConfig from .configuration_reachy2 import Reachy2RobotConfig
from .robot_reachy2 import Reachy2Robot from .robot_reachy2 import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Robot,
)
src/lerobot/teleoperators/reachy2_teleoperator/__init__.py
+8 -1
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@@ -15,4 +15,11 @@
# limitations under the License. # limitations under the License.
from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
from .reachy2_teleoperator import Reachy2Teleoperator from .reachy2_teleoperator import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Teleoperator,
)
src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py
-1
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@@ -157,7 +157,6 @@ class Reachy2Teleoperator(Teleoperator):
return {**joint_action, **vel_action} return {**joint_action, **vel_action}
def send_feedback(self, feedback: dict[str, float]) -> None: def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO(rcadene, aliberts): Implement force feedback
raise NotImplementedError raise NotImplementedError
def disconnect(self) -> None: def disconnect(self) -> None:
tests/robots/test_reachy2.py
+9 -27
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@@ -20,39 +20,21 @@ import numpy as np
import pytest import pytest
from lerobot.robots.reachy2 import ( from lerobot.robots.reachy2 import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Robot, Reachy2Robot,
Reachy2RobotConfig, Reachy2RobotConfig,
) )
# {lerobot_keys: reachy2_sdk_keys} # {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = { REACHY2_JOINTS = {
"neck_yaw.pos": "head.neck.yaw", **REACHY2_NECK_JOINTS,
"neck_pitch.pos": "head.neck.pitch", **REACHY2_ANTENNAS_JOINTS,
"neck_roll.pos": "head.neck.roll", **REACHY2_R_ARM_JOINTS,
"l_antenna.pos": "head.l_antenna", **REACHY2_L_ARM_JOINTS,
"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",
} }
PARAMS = [ PARAMS = [
tests/teleoperators/test_reachy2_teleoperator.py
+9 -27
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@@ -19,39 +19,21 @@ from unittest.mock import MagicMock, patch
import pytest import pytest
from lerobot.teleoperators.reachy2_teleoperator import ( from lerobot.teleoperators.reachy2_teleoperator import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Teleoperator, Reachy2Teleoperator,
Reachy2TeleoperatorConfig, Reachy2TeleoperatorConfig,
) )
# {lerobot_keys: reachy2_sdk_keys} # {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = { REACHY2_JOINTS = {
"neck_yaw.pos": "head.neck.yaw", **REACHY2_NECK_JOINTS,
"neck_pitch.pos": "head.neck.pitch", **REACHY2_ANTENNAS_JOINTS,
"neck_roll.pos": "head.neck.roll", **REACHY2_R_ARM_JOINTS,
"l_antenna.pos": "head.l_antenna", **REACHY2_L_ARM_JOINTS,
"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",
} }
PARAMS = [ PARAMS = [