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fix(robots): add reachy2 fixes (#2783)

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* fix(robots): add reachy2 fixes

* tests(robots): remove reachy sdk stub
This commit is contained in:
Steven Palma
2026-01-12 18:05:16 +01:00
committed by GitHub
parent 6b8d4c75a6
commit b8ec1152d4
15 changed files with 165 additions and 246 deletions
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docs/source/reachy2.mdx
+34 -19
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@@ -38,6 +38,7 @@ docker run --rm -it \
start_rviz:=true start_sdk_server:=true mujoco:=true
```
> [!NOTE]
> If MuJoCo runs slowly (low simulation frequency), append `-e LD_LIBRARY_PATH="/opt/host-libs:$LD_LIBRARY_PATH" \` to the previous command to improve performance:
>
> ```
@@ -141,7 +142,7 @@ If you choose this option but still want to use the VR teleoperation application
First add reachy2 and reachy2_teleoperator to the imports of the record script. Then you can use the following command:
```bash
python -m lerobot.record \
lerobot-record \
--robot.type=reachy2 \
--robot.ip_address=192.168.0.200 \
--robot.id=r2-0000 \
@@ -150,6 +151,7 @@ python -m lerobot.record \
--teleop.type=reachy2_teleoperator \
--teleop.ip_address=192.168.0.200 \
--teleop.with_mobile_base=false \
--robot.with_torso_camera=true \
--dataset.repo_id=pollen_robotics/record_test \
--dataset.single_task="Reachy 2 recording test" \
--dataset.num_episodes=1 \
@@ -165,7 +167,7 @@ python -m lerobot.record \
**Extended setup overview (all options included):**
```bash
python -m lerobot.record \
lerobot-record \
--robot.type=reachy2 \
--robot.ip_address=192.168.0.200 \
--robot.use_external_commands=true \
@@ -177,6 +179,8 @@ python -m lerobot.record \
--robot.with_left_teleop_camera=true \
--robot.with_right_teleop_camera=true \
--robot.with_torso_camera=false \
--robot.camera_width=640 \
--robot.camera_height=480 \
--robot.disable_torque_on_disconnect=false \
--robot.max_relative_target=5.0 \
--teleop.type=reachy2_teleoperator \
@@ -212,9 +216,10 @@ Must be set to true if a compliant Reachy 2 is used to control another one.
From our initial tests, recording **all** joints when only some are moving can reduce model quality with certain policies.
To avoid this, you can exclude specific parts from recording and replay using:
````
```bash
--robot.with_<part>=false
```,
```
with `<part>` being one of : `mobile_base`, `l_arm`, `r_arm", `neck`, `antennas`.
It determine whether the corresponding part is recorded in the observations. True if not set.
@@ -222,49 +227,60 @@ By default, **all parts are recorded**.
The same per-part mechanism is available in `reachy2_teleoperator` as well.
````
```bash
--teleop.with\_<part>
```
with `<part>` being one of : `mobile_base`, `l_arm`, `r_arm", `neck`, `antennas`.
Determine whether the corresponding part is recorded in the actions. True if not set.
> **Important:** In a given session, the **enabled parts must match** on both the robot and the teleoperator.
For example, if the robot runs with `--robot.with_mobile_base=false`, the teleoperator must disable the same part `--teleoperator.with_mobile_base=false`.
> For example, if the robot runs with `--robot.with_mobile_base=false`, the teleoperator must disable the same part `--teleoperator.with_mobile_base=false`.
##### Use the relevant cameras
You can do the same for **cameras**. By default, only the **teleoperation cameras** are recorded (both `left_teleop_camera` and `right_teleop_camera`). Enable or disable each camera with:
You can do the same for **cameras**. Enable or disable each camera with default parameters using:
```bash
--robot.with_left_teleop_camera=<true|false> \
--robot.with_right_teleop_camera=<true|false> \
--robot.with_torso_camera=<true|false>
```
--robot.with_left_teleop_camera=<true|false>
--robot.with_right_teleop_camera=<true|false>
--robot.with_torso_camera=<true|false>
By default, no camera is recorded, all camera arguments are set to `false`.
If you want to, you can use custom `width` and `height` parameters for Reachy 2's cameras using the `--robot.camera_width` & `--robot.camera_height` argument:
````
```bash
--robot.camera_width=1920 \
--robot.camera_height=1080
```
This will change the resolution of all 3 default robot cameras (enabled by the above bool arguments).
If you want, you can add additional cameras other than the ones in the robot as usual with:
```bash
--robot.cameras="{ extra: {type: opencv, index_or_path: 42, width: 640, height: 480, fps: 30}}" \
```
## Step 2: Replay
Make sure the robot is configured with the same parts as the dataset:
```bash
python -m lerobot.replay \
lerobot-replay \
--robot.type=reachy2 \
--robot.ip_address=192.168.0.200 \
--robot.use_external_commands=false \
--robot.with_mobile_base=false \
--dataset.repo_id=pollen_robotics/record_test \
--dataset.episode=0
--display_data=true
````
```
## Step 3: Train
```bash
python -m lerobot.scripts.train \
lerobot-train \
--dataset.repo_id=pollen_robotics/record_test \
--policy.type=act \
--output_dir=outputs/train/reachy2_test \
@@ -277,10 +293,9 @@ python -m lerobot.scripts.train \
## Step 4: Evaluate
```bash
python -m lerobot.record \
lerobot-eval \
--robot.type=reachy2 \
--robot.ip_address=192.168.0.200 \
--display_data=false \
--dataset.repo_id=pollen_robotics/eval_record_test \
--dataset.single_task="Evaluate reachy2 policy" \
--dataset.num_episodes=10 \