diff --git a/src/lerobot/robots/reachy2/configuration_reachy2.py b/src/lerobot/robots/reachy2/configuration_reachy2.py index cb4712d7e..d79e0a0f8 100644 --- a/src/lerobot/robots/reachy2/configuration_reachy2.py +++ b/src/lerobot/robots/reachy2/configuration_reachy2.py @@ -32,86 +32,15 @@ class Reachy2RobotConfig(RobotConfig): use_external_commands: bool = False with_mobile_base: bool = True - # cameras - cameras: dict[str, CameraConfig] = field( - default_factory=lambda: { - # "teleop_left": Reachy2CameraConfig( - # name="teleop", - # image_type="left", - # fps=30, - # width=640, - # height=480, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "teleop_right": Reachy2CameraConfig( - # name="teleop", - # image_type="right", - # fps=30, - # width=640, - # height=480, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "torso_rgb": Reachy2CameraConfig( - # name="depth", - # image_type="rgb", - # fps=30, - # width=640, - # height=480, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "torso_depth": Reachy2CameraConfig( - # name="depth", - # image_type="depth", - # fps=30, - # width=640, - # height=480, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION, - # use_depth=True - # ) + mock: bool = False - # # REAL ROBOT - # "teleop_left": Reachy2CameraConfig( - # name="teleop", - # image_type="left", - # ip_address="192.168.0.199", - # # ip_address="172.18.131.66", - # fps=30, - # width=960, - # height=720, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "teleop_right": Reachy2CameraConfig( - # name="teleop", - # image_type="right", - # ip_address="192.168.0.199", - # # ip_address="172.18.131.66", - # fps=30, - # width=960, - # height=720, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "torso_rgb": Reachy2CameraConfig( - # name="depth", - # image_type="rgb", - # ip_address="172.18.131.66", - # fps=30, - # width=1280, - # height=720, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - - # # REAL ROBOT REDUCED IMAGE SIZE + def __post_init__(self): + # cameras + self.cameras: dict[str, CameraConfig] = { "teleop_left": Reachy2CameraConfig( name="teleop", image_type="left", - ip_address="192.168.0.199", + ip_address=self.ip_address, fps=30, width=640, height=480, @@ -121,36 +50,134 @@ class Reachy2RobotConfig(RobotConfig): "teleop_right": Reachy2CameraConfig( name="teleop", image_type="right", - ip_address="192.168.0.199", + ip_address=self.ip_address, fps=30, width=640, height=480, color_mode=ColorMode.RGB, rotation=Cv2Rotation.NO_ROTATION ), - - # # Reduced size for testing - # "teleop_left": Reachy2CameraConfig( - # name="teleop", - # image_type="left", - # ip_address="172.18.131.66", - # fps=30, - # width=480, - # height=360, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), - # "teleop_right": Reachy2CameraConfig( - # name="teleop", - # image_type="right", - # ip_address="172.18.131.66", - # fps=30, - # width=480, - # height=360, - # color_mode=ColorMode.RGB, - # rotation=Cv2Rotation.NO_ROTATION - # ), } - ) + super().__post_init__() - mock: bool = False + +# # cameras +# cameras: dict[str, CameraConfig] = field( +# default_factory=lambda: { +# "teleop_left": Reachy2CameraConfig( +# name="teleop", +# image_type="left", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "teleop_right": Reachy2CameraConfig( +# name="teleop", +# image_type="right", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "torso_rgb": Reachy2CameraConfig( +# name="depth", +# image_type="rgb", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "torso_depth": Reachy2CameraConfig( +# name="depth", +# image_type="depth", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION, +# use_depth=True +# ) + +# # REAL ROBOT +# "teleop_left": Reachy2CameraConfig( +# name="teleop", +# image_type="left", +# ip_address="192.168.0.199", +# # ip_address="172.18.131.66", +# fps=30, +# width=960, +# height=720, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "teleop_right": Reachy2CameraConfig( +# name="teleop", +# image_type="right", +# ip_address="192.168.0.199", +# # ip_address="172.18.131.66", +# fps=30, +# width=960, +# height=720, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "torso_rgb": Reachy2CameraConfig( +# name="depth", +# image_type="rgb", +# ip_address="172.18.131.66", +# fps=30, +# width=1280, +# height=720, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), + +# # REAL ROBOT REDUCED IMAGE SIZE +# "teleop_left": Reachy2CameraConfig( +# name="teleop", +# image_type="left", +# ip_address="192.168.0.199", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "teleop_right": Reachy2CameraConfig( +# name="teleop", +# image_type="right", +# ip_address="192.168.0.199", +# fps=30, +# width=640, +# height=480, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), + +# # Reduced size for testing +# "teleop_left": Reachy2CameraConfig( +# name="teleop", +# image_type="left", +# ip_address="172.18.131.66", +# fps=30, +# width=480, +# height=360, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# "teleop_right": Reachy2CameraConfig( +# name="teleop", +# image_type="right", +# ip_address="172.18.131.66", +# fps=30, +# width=480, +# height=360, +# color_mode=ColorMode.RGB, +# rotation=Cv2Rotation.NO_ROTATION +# ), +# } +# )