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Use same ip for cameras

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This commit is contained in:
glannuzel
2025-08-06 13:52:39 +02:00
parent 346d4950c5
commit f9b8be5730
1 changed files with 128 additions and 101 deletions
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src/lerobot/robots/reachy2/configuration_reachy2.py
+128 -101
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@@ -32,86 +32,15 @@ class Reachy2RobotConfig(RobotConfig):
use_external_commands: bool = False use_external_commands: bool = False
with_mobile_base: bool = True with_mobile_base: bool = True
# cameras mock: bool = False
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 def __post_init__(self):
# "teleop_left": Reachy2CameraConfig( # cameras
# name="teleop", self.cameras: dict[str, CameraConfig] = {
# 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( "teleop_left": Reachy2CameraConfig(
name="teleop", name="teleop",
image_type="left", image_type="left",
ip_address="192.168.0.199", ip_address=self.ip_address,
fps=30, fps=30,
width=640, width=640,
height=480, height=480,
@@ -121,36 +50,134 @@ class Reachy2RobotConfig(RobotConfig):
"teleop_right": Reachy2CameraConfig( "teleop_right": Reachy2CameraConfig(
name="teleop", name="teleop",
image_type="right", image_type="right",
ip_address="192.168.0.199", ip_address=self.ip_address,
fps=30, fps=30,
width=640, width=640,
height=480, height=480,
color_mode=ColorMode.RGB, color_mode=ColorMode.RGB,
rotation=Cv2Rotation.NO_ROTATION 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
# ),
# }
# )