fix(tests) fixes for reachy2 tests; removing reachy2 references from the script

6 choose cameras in config

docs/source/_toctree.yml

@@ -35,6 +35,8 @@
     title: Koch v1.1
   - local: lekiwi
     title: LeKiwi
+  - local: reachy2
+    title: Reachy 2
   title: "Robots"
 - sections:
   - local: notebooks

docs/source/reachy2.mdx

@@ -0,0 +1,288 @@
+# Reachy 2
+
+Reachy 2 is an open-source humanoid robot made by Pollen Robotics, specifically designed for the development of embodied AI and real-world applications.
+Check out [Pollen Robotics website](https://www.pollen-robotics.com/reachy/), or access [Reachy 2 documentation](https://docs.pollen-robotics.com/) for more information on the platform!
+
+## Teleoperate Reachy 2
+
+Currently, there are two ways to teleoperate Reachy 2:
+
+- Pollen Robotics’ VR teleoperation (not included in LeRobot).
+- Robot-to-robot teleoperation (use one Reachy 2 to control another).
+
+## Reachy 2 Simulation
+
+**(Linux only)** You can run Reachy 2 in simulation (Gazebo or MuJoCo) using the provided [Docker image](https://hub.docker.com/r/pollenrobotics/reachy2_core).
+
+1. Install [Docker Engine](https://docs.docker.com/engine/).
+2. Run (for MuJoCo):
+
+```
+docker run --rm -it \
+  --name reachy \
+  --privileged \
+  --network host \
+  --ipc host \
+  --device-cgroup-rule='c 189:* rwm' \
+  --group-add audio \
+  -e ROS_DOMAIN_ID="$ROS_DOMAIN_ID" \
+  -e DISPLAY="$DISPLAY" \
+  -e RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}]: {message}" \
+  -e REACHY2_CORE_SERVICE_FAKE="${REACHY2_CORE_SERVICE_FAKE:-true}" \
+  -v /dev:/dev \
+  -v "$HOME/.reachy_config":/home/reachy/.reachy_config_override \
+  -v "$HOME/.reachy.log":/home/reachy/.ros/log \
+  -v /usr/lib/x86_64-linux-gnu:/opt/host-libs \
+  --entrypoint /package/launch.sh \
+  pollenrobotics/reachy2_core:1.7.5.9_deploy \
+  start_rviz:=true start_sdk_server:=true mujoco:=true
+```
+
+> If MuJoCo runs slowly (low simulation frequency), append `-e LD_LIBRARY_PATH="/opt/host-libs:$LD_LIBRARY_PATH" \` to the previous command to improve performance:
+>
+> ```
+> docker run --rm -it \
+>   --name reachy \
+>   --privileged \
+>   --network host \
+>   --ipc host \
+>   --device-cgroup-rule='c 189:* rwm' \
+>   --group-add audio \
+>   -e ROS_DOMAIN_ID="$ROS_DOMAIN_ID" \
+>   -e DISPLAY="$DISPLAY" \
+>   -e RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}]: {message}" \
+>   -e REACHY2_CORE_SERVICE_FAKE="${REACHY2_CORE_SERVICE_FAKE:-true}" \
+>   -e LD_LIBRARY_PATH="/opt/host-libs:$LD_LIBRARY_PATH" \
+>   -v /dev:/dev \
+>   -v "$HOME/.reachy_config":/home/reachy/.reachy_config_override \
+>   -v "$HOME/.reachy.log":/home/reachy/.ros/log \
+>   -v /usr/lib/x86_64-linux-gnu:/opt/host-libs \
+>   --entrypoint /package/launch.sh \
+>   pollenrobotics/reachy2_core:1.7.5.9_deploy \
+>   start_rviz:=true start_sdk_server:=true mujoco:=true
+> ```
+
+## Setup
+
+### Prerequisites
+
+- On your robot, check the **service images** meet the minimum versions:
+  - **reachy2-core >= 1.7.5.2**
+  - **webrtc >= 2.0.1.1**
+
+Then, if you want to use VR teleoperation:
+
+- Install the [Reachy 2 teleoperation application](https://docs.pollen-robotics.com/teleoperation/teleoperation-introduction/discover-teleoperation/).
+  Use version **>=v1.2.0**
+
+We recommend using two computers: one for teleoperation (Windows required) and another for recording with LeRobot.
+
+### Install LeRobot
+
+Follow the [installation instructions](https://github.com/huggingface/lerobot#installation) to install LeRobot.
+
+Install LeRobot with Reachy 2 dependencies:
+
+```bash
+pip install -e ".[reachy2]"
+```
+
+### (Optional but recommended) Install pollen_data_acquisition_server
+
+How you manage Reachy 2 recording sessions is up to you, but the **easiest** way is to use this server so you can control sessions directly from the VR teleoperation app.
+
+> **Note:** Currently, only the VR teleoperation application works as a client for this server, so this step primarily targets teleoperation. You’re free to develop custom clients to manage sessions to your needs.
+
+In your LeRobot environment, install the server from source:
+
+```bash
+git clone https://github.com/pollen-robotics/pollen_data_acquisition_server.git
+cd pollen_data_acquisition_server
+pip install -e .
+```
+
+Find the [pollen_data_acquisition_server documentation here](https://github.com/pollen-robotics/pollen_data_acquisition_server).
+
+## Step 1: Recording
+
+### Get Reachy 2 IP address
+
+Before starting teleoperation and data recording, find the [robot's IP address](https://docs.pollen-robotics.com/getting-started/setup-reachy2/connect-reachy2/).
+We strongly recommend connecting all devices (PC and robot) via **Ethernet**.
+
+### Launch recording
+
+There are two ways to manage recording sessions when using the Reachy 2 VR teleoperation application:
+
+- **Using the data acquisition server (recommended for VR teleop)**: The VR app orchestrates sessions (via the server it tells LeRobot when to create datasets, start/stop episodes) while also controlling the robot’s motions.
+- **Using LeRobot’s record script**: LeRobot owns session control and decides when to start/stop episodes. If you also use the VR teleop app, it’s only for motion control.
+
+### Option 1: Using Pollen data acquisition server (recommended for VR teleop)
+
+Make sure you have installed pollen_data_acquisition_server, as explained in the Setup section.
+
+Launch the data acquisition server to be able to manage your session directly from the teleoperation application:
+
+```bash
+python -m pollen_data_acquisition_server.server
+```
+
+Then get into the teleoperation application and choose "Data acquisition session".
+You can finally setup your session by following the screens displayed.
+
+> Even without the VR app, you can use the `pollen_data_acquisition_server` with your own client implementation.
+
+### Option 2: Using lerobot.record
+
+Reachy 2 is fully supported by LeRobot’s recording features.
+If you choose this option but still want to use the VR teleoperation application, select "Standard session" in the app.
+
+**Example: start a recording without the mobile base:**
+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 \
+    --robot.type=reachy2 \
+    --robot.ip_address=192.168.0.200 \
+    --robot.id=r2-0000 \
+    --robot.use_external_commands=true \
+    --robot.with_mobile_base=false \
+    --teleop.type=reachy2_teleoperator \
+    --teleop.ip_address=192.168.0.200 \
+    --teleop.with_mobile_base=false \
+    --dataset.repo_id=pollen_robotics/record_test \
+    --dataset.single_task="Reachy 2 recording test" \
+    --dataset.num_episodes=1 \
+    --dataset.episode_time_s=5 \
+    --dataset.fps=15 \
+    --dataset.push_to_hub=true \
+    --dataset.private=true \
+    --display_data=true
+```
+
+#### Specific Options
+
+**Extended setup overview (all options included):**
+
+```bash
+python -m lerobot.record \
+    --robot.type=reachy2 \
+    --robot.ip_address=192.168.0.200 \
+    --robot.use_external_commands=true \
+    --robot.with_mobile_base=true \
+    --robot.with_l_arm=true \
+    --robot.with_r_arm=true \
+    --robot.with_neck=true \
+    --robot.with_antennas=true \
+    --robot.with_left_teleop_camera=true \
+    --robot.with_right_teleop_camera=true \
+    --robot.with_torso_camera=false \
+    --robot.disable_torque_on_disconnect=false \
+    --robot.max_relative_target=5.0 \
+    --teleop.type=reachy2_teleoperator \
+    --teleop.ip_address=192.168.0.200 \
+    --teleop.use_present_position=false \
+    --teleop.with_mobile_base=false \
+    --teleop.with_l_arm=true \
+    --teleop.with_r_arm=true \
+    --teleop.with_neck=true \
+    --teleop.with_antennas=true \
+    --dataset.repo_id=pollen_robotics/record_test \
+    --dataset.single_task="Reachy 2 recording test" \
+    --dataset.num_episodes=1 \
+    --dataset.episode_time_s=5 \
+    --dataset.fps=15 \
+    --dataset.push_to_hub=true \
+    --dataset.private=true \
+    --display_data=true
+```
+
+##### `--robot.use_external_commands`
+
+Determine whether LeRobot robot.send_action() sends commands to the robot.
+**Must** be set to false while using the VR teleoperation application, as the app already sends commands.
+
+##### `--teleop.use_present_position`
+
+Determine whether the teleoperator reads the goal or present position of the robot.
+Must be set to true if a compliant Reachy 2 is used to control another one.
+
+##### Use the relevant parts
+
+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:
+
+````
+--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.
+
+By default, **all parts are recorded**.
+
+The same per-part mechanism is available in `reachy2_teleoperator` as well.
+
+````
+
+--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`.
+
+##### 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:
+
+```
+
+--robot.with_left_teleop_camera=<true|false>
+--robot.with_right_teleop_camera=<true|false>
+--robot.with_torso_camera=<true|false>
+
+````
+
+
+## Step 2: Replay
+
+Make sure the robot is configured with the same parts as the dataset:
+
+```bash
+python -m 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 \
+  --dataset.repo_id=pollen_robotics/record_test \
+  --policy.type=act \
+  --output_dir=outputs/train/reachy2_test \
+  --job_name=reachy2 \
+  --policy.device=mps \
+  --wandb.enable=true \
+  --policy.repo_id=pollen_robotics/record_test_policy
+```
+
+## Step 4: Evaluate
+
+```bash
+python -m lerobot.record \
+  --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 \
+  --policy.path=outputs/train/reachy2_test/checkpoints/last/pretrained_model
+```

pyproject.toml

@@ -106,6 +106,7 @@ dynamixel = ["dynamixel-sdk>=3.7.31"]
 gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1"]
+reachy2 = ["reachy2_sdk>=1.0.14"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
@@ -141,6 +142,7 @@ all = [
     "lerobot[gamepad]",
     "lerobot[hopejr]",
     "lerobot[lekiwi]",
+    "lerobot[reachy2]",
     "lerobot[kinematics]",
     "lerobot[intelrealsense]",
     "lerobot[pi0]",

src/lerobot/cameras/reachy2_camera/__init__.py

@@ -0,0 +1,16 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .configuration_reachy2_camera import Reachy2CameraConfig
+from .reachy2_camera import Reachy2Camera

src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py

@@ -0,0 +1,78 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+
+from ..configs import CameraConfig, ColorMode
+
+
+@CameraConfig.register_subclass("reachy2_camera")
+@dataclass
+class Reachy2CameraConfig(CameraConfig):
+    """Configuration class for Reachy 2 camera devices.
+
+    This class provides configuration options for Reachy 2 cameras,
+    supporting both the teleop and depth cameras. It includes settings
+    for resolution, frame rate, color mode, and the selection of the cameras.
+
+    Example configurations:
+    ```python
+    # Basic configurations
+    Reachy2CameraConfig(
+        name="teleop",
+        image_type="left",
+        ip_address="192.168.0.200",  # IP address of the robot
+        fps=15,
+        width=640,
+        height=480,
+        color_mode=ColorMode.RGB,
+    )  # Left teleop camera, 640x480 @ 15FPS
+    ```
+
+    Attributes:
+        name: Name of the camera device. Can be "teleop" or "depth".
+        image_type: Type of image stream. For "teleop" camera, can be "left" or "right".
+                    For "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
+        fps: Requested frames per second for the color stream.
+        width: Requested frame width in pixels for the color stream.
+        height: Requested frame height in pixels for the color stream.
+        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
+        ip_address: IP address of the robot. Defaults to "localhost".
+        port: Port number for the camera server. Defaults to 50065.
+
+    Note:
+        - Only 3-channel color output (RGB/BGR) is currently supported.
+    """
+
+    name: str
+    image_type: str
+    color_mode: ColorMode = ColorMode.RGB
+    ip_address: str | None = "localhost"
+    port: int = 50065
+    # use_depth: bool = False
+
+    def __post_init__(self):
+        if self.name not in ["teleop", "depth"]:
+            raise ValueError(f"`name` is expected to be 'teleop' or 'depth', but {self.name} is provided.")
+        if (self.name == "teleop" and self.image_type not in ["left", "right"]) or (
+            self.name == "depth" and self.image_type not in ["rgb", "depth"]
+        ):
+            raise ValueError(
+                f"`image_type` is expected to be 'left' or 'right' for teleop camera, and 'rgb' or 'depth' for depth camera, but {self.image_type} is provided."
+            )
+
+        if self.color_mode not in ["rgb", "bgr"]:
+            raise ValueError(
+                f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
+            )

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

@@ -0,0 +1,288 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Provides the Reachy2Camera class for capturing frames from Reachy 2 cameras using Reachy 2's CameraManager.
+"""
+
+import logging
+import os
+import platform
+import time
+from threading import Event, Lock, Thread
+from typing import Any
+
+# Fix MSMF hardware transform compatibility for Windows before importing cv2
+if platform.system() == "Windows" and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS" not in os.environ:
+    os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+import cv2
+import numpy as np
+from reachy2_sdk.media.camera import CameraView
+from reachy2_sdk.media.camera_manager import CameraManager
+
+from lerobot.errors import DeviceNotConnectedError
+
+from ..camera import Camera
+from .configuration_reachy2_camera import ColorMode, Reachy2CameraConfig
+
+logger = logging.getLogger(__name__)
+
+
+class Reachy2Camera(Camera):
+    """
+    Manages Reachy 2 camera using Reachy 2 CameraManager.
+
+    This class provides a high-level interface to connect to, configure, and read
+    frames from Reachy 2 cameras. It supports both synchronous and asynchronous
+    frame reading.
+
+    An Reachy2Camera instance requires a camera name (e.g., "teleop") and an image
+    type (e.g., "left") to be specified in the configuration.
+
+    The camera's default settings (FPS, resolution, color mode) are used unless
+    overridden in the configuration.
+    """
+
+    def __init__(self, config: Reachy2CameraConfig):
+        """
+        Initializes the Reachy2Camera instance.
+
+        Args:
+            config: The configuration settings for the camera.
+        """
+        super().__init__(config)
+
+        self.config = config
+
+        self.fps = config.fps
+        self.color_mode = config.color_mode
+
+        self.cam_manager: CameraManager | None = None
+
+        self.thread: Thread | None = None
+        self.stop_event: Event | None = None
+        self.frame_lock: Lock = Lock()
+        self.latest_frame: np.ndarray | None = None
+        self.new_frame_event: Event = Event()
+
+    def __str__(self) -> str:
+        return f"{self.__class__.__name__}({self.config.name}, {self.config.image_type})"
+
+    @property
+    def is_connected(self) -> bool:
+        """Checks if the camera is currently connected and opened."""
+        if self.config.name == "teleop":
+            return self.cam_manager._grpc_connected and self.cam_manager.teleop if self.cam_manager else False
+        elif self.config.name == "depth":
+            return self.cam_manager._grpc_connected and self.cam_manager.depth if self.cam_manager else False
+        else:
+            raise ValueError(f"Invalid camera name '{self.config.name}'. Expected 'teleop' or 'depth'.")
+
+    def connect(self, warmup: bool = True):
+        """
+        Connects to the Reachy2 CameraManager as specified in the configuration.
+        """
+        self.cam_manager = CameraManager(host=self.config.ip_address, port=self.config.port)
+        self.cam_manager.initialize_cameras()
+
+        logger.info(f"{self} connected.")
+
+    @staticmethod
+    def find_cameras(ip_address: str = "localhost", port: int = 50065) -> list[dict[str, Any]]:
+        """
+        Detects available Reachy 2 cameras.
+
+        Returns:
+            List[Dict[str, Any]]: A list of dictionaries,
+            where each dictionary contains 'name', 'stereo',
+            and the default profile properties (width, height, fps).
+        """
+        initialized_cameras = []
+        camera_manager = CameraManager(host=ip_address, port=port)
+
+        for camera in [camera_manager.teleop, camera_manager.depth]:
+            if camera is None:
+                continue
+
+            height, width, _, _, _, _, _ = camera.get_parameters()
+
+            camera_info = {
+                "name": camera._cam_info.name,
+                "stereo": camera._cam_info.stereo,
+                "default_profile": {
+                    "width": width,
+                    "height": height,
+                    "fps": 30,
+                },
+            }
+            initialized_cameras.append(camera_info)
+
+        camera_manager.disconnect()
+        return initialized_cameras
+
+    def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
+        """
+        Reads a single frame synchronously from the camera.
+
+        This is a blocking call.
+
+        Args:
+            color_mode (Optional[ColorMode]): If specified, overrides the default
+                color mode (`self.color_mode`) for this read operation (e.g.,
+                request RGB even if default is BGR).
+
+        Returns:
+            np.ndarray: The captured frame as a NumPy array in the format
+                       (height, width, channels), using the specified or default
+                       color mode and applying any configured rotation.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        start_time = time.perf_counter()
+
+        frame = None
+
+        if self.cam_manager is None:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        else:
+            if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"):
+                if self.config.image_type == "left":
+                    frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0]
+                elif self.config.image_type == "right":
+                    frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0]
+            elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"):
+                if self.config.image_type == "depth":
+                    frame = self.cam_manager.depth.get_depth_frame()[0]
+                elif self.config.image_type == "rgb":
+                    frame = self.cam_manager.depth.get_frame(size=(640, 480))[0]
+
+            if frame is None:
+                return np.empty((0, 0, 3), dtype=np.uint8)
+
+            if self.config.color_mode == "rgb":
+                frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+
+        read_duration_ms = (time.perf_counter() - start_time) * 1e3
+        logger.debug(f"{self} read took: {read_duration_ms:.1f}ms")
+
+        return frame
+
+    def _read_loop(self):
+        """
+        Internal loop run by the background thread for asynchronous reading.
+
+        On each iteration:
+        1. Reads a color frame
+        2. Stores result in latest_frame (thread-safe)
+        3. Sets new_frame_event to notify listeners
+
+        Stops on DeviceNotConnectedError, logs other errors and continues.
+        """
+        while not self.stop_event.is_set():
+            try:
+                color_image = self.read()
+
+                with self.frame_lock:
+                    self.latest_frame = color_image
+                self.new_frame_event.set()
+
+            except DeviceNotConnectedError:
+                break
+            except Exception as e:
+                logger.warning(f"Error reading frame in background thread for {self}: {e}")
+
+    def _start_read_thread(self) -> None:
+        """Starts or restarts the background read thread if it's not running."""
+        if self.thread is not None and self.thread.is_alive():
+            self.thread.join(timeout=0.1)
+        if self.stop_event is not None:
+            self.stop_event.set()
+
+        self.stop_event = Event()
+        self.thread = Thread(target=self._read_loop, args=(), name=f"{self}_read_loop")
+        self.thread.daemon = True
+        self.thread.start()
+
+    def _stop_read_thread(self) -> None:
+        """Signals the background read thread to stop and waits for it to join."""
+        if self.stop_event is not None:
+            self.stop_event.set()
+
+        if self.thread is not None and self.thread.is_alive():
+            self.thread.join(timeout=2.0)
+
+        self.thread = None
+        self.stop_event = None
+
+    def async_read(self, timeout_ms: float = 200) -> np.ndarray:
+        """
+        Reads the latest available frame asynchronously.
+
+        This method retrieves the most recent frame captured by the background
+        read thread. It does not block waiting for the camera hardware directly,
+        but may wait up to timeout_ms for the background thread to provide a frame.
+
+        Args:
+            timeout_ms (float): Maximum time in milliseconds to wait for a frame
+                to become available. Defaults to 200ms (0.2 seconds).
+
+        Returns:
+            np.ndarray: The latest captured frame as a NumPy array in the format
+                       (height, width, channels), processed according to configuration.
+
+        Raises:
+            DeviceNotConnectedError: If the camera is not connected.
+            TimeoutError: If no frame becomes available within the specified timeout.
+            RuntimeError: If an unexpected error occurs.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        if self.thread is None or not self.thread.is_alive():
+            self._start_read_thread()
+
+        if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0):
+            thread_alive = self.thread is not None and self.thread.is_alive()
+            raise TimeoutError(
+                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
+                f"Read thread alive: {thread_alive}."
+            )
+
+        with self.frame_lock:
+            frame = self.latest_frame
+            self.new_frame_event.clear()
+
+        if frame is None:
+            raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
+
+        return frame
+
+    def disconnect(self):
+        """
+        Stops the background read thread (if running).
+
+        Raises:
+            DeviceNotConnectedError: If the camera is already disconnected.
+        """
+        if not self.is_connected and self.thread is None:
+            raise DeviceNotConnectedError(f"{self} not connected.")
+
+        if self.thread is not None:
+            self._stop_read_thread()
+
+        if self.cam_manager is not None:
+            self.cam_manager.disconnect()
+
+        logger.info(f"{self} disconnected.")

src/lerobot/cameras/utils.py

@@ -37,8 +37,14 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
             from .realsense.camera_realsense import RealSenseCamera
 
             cameras[key] = RealSenseCamera(cfg)
+
+        elif cfg.type == "reachy2_camera":
+            from .reachy2_camera.reachy2_camera import Reachy2Camera
+
+            cameras[key] = Reachy2Camera(cfg)
+
         else:
-            raise ValueError(f"The motor type '{cfg.type}' is not valid.")
+            raise ValueError(f"The camera type '{cfg.type}' is not valid.")
 
     return cameras
 

src/lerobot/replay.py

@@ -55,6 +55,7 @@ from lerobot.robots import (  # noqa: F401
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    reachy2,
     so100_follower,
     so101_follower,
 )

src/lerobot/robots/reachy2/__init__.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .configuration_reachy2 import Reachy2RobotConfig
+from .robot_reachy2 import (
+    REACHY2_ANTENNAS_JOINTS,
+    REACHY2_L_ARM_JOINTS,
+    REACHY2_NECK_JOINTS,
+    REACHY2_R_ARM_JOINTS,
+    REACHY2_VEL,
+    Reachy2Robot,
+)

src/lerobot/robots/reachy2/configuration_reachy2.py

@@ -0,0 +1,107 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.cameras import CameraConfig
+from lerobot.cameras.configs import ColorMode
+from lerobot.cameras.reachy2_camera import Reachy2CameraConfig
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("reachy2")
+@dataclass
+class Reachy2RobotConfig(RobotConfig):
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors.
+    max_relative_target: float | None = None
+
+    # IP address of the Reachy 2 robot
+    ip_address: str | None = "localhost"
+
+    # If True, turn_off_smoothly() will be sent to the robot before disconnecting.
+    disable_torque_on_disconnect: bool = False
+
+    # Tag for external commands control
+    # Set to True if you use an external commands system to control the robot,
+    # such as the official teleoperation application: https://github.com/pollen-robotics/Reachy2Teleoperation
+    # If True, robot.send_action() will not send commands to the robot.
+    use_external_commands: bool = False
+
+    # Robot parts
+    # Set to False to not add the corresponding joints part to the robot list of joints.
+    # By default, all parts are set to True.
+    with_mobile_base: bool = True
+    with_l_arm: bool = True
+    with_r_arm: bool = True
+    with_neck: bool = True
+    with_antennas: bool = True
+
+    # Robot cameras
+    # Set to True if you want to use the corresponding cameras in the observations.
+    # By default, only the teleop cameras are used.
+    with_left_teleop_camera: bool = True
+    with_right_teleop_camera: bool = True
+    with_torso_camera: bool = False
+
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+    def __post_init__(self) -> None:
+        # Add cameras with same ip_address as the robot
+        if self.with_left_teleop_camera:
+            self.cameras["teleop_left"] = Reachy2CameraConfig(
+                name="teleop",
+                image_type="left",
+                ip_address=self.ip_address,
+                fps=15,
+                width=640,
+                height=480,
+                color_mode=ColorMode.RGB,
+            )
+        if self.with_right_teleop_camera:
+            self.cameras["teleop_right"] = Reachy2CameraConfig(
+                name="teleop",
+                image_type="right",
+                ip_address=self.ip_address,
+                fps=15,
+                width=640,
+                height=480,
+                color_mode=ColorMode.RGB,
+            )
+        if self.with_torso_camera:
+            self.cameras["torso_rgb"] = Reachy2CameraConfig(
+                name="depth",
+                image_type="rgb",
+                ip_address=self.ip_address,
+                fps=15,
+                width=640,
+                height=480,
+                color_mode=ColorMode.RGB,
+            )
+
+        super().__post_init__()
+
+        if not (
+            self.with_mobile_base
+            or self.with_l_arm
+            or self.with_r_arm
+            or self.with_neck
+            or self.with_antennas
+        ):
+            raise ValueError(
+                "No Reachy2Robot part used.\n"
+                "At least one part of the robot must be set to True "
+                "(with_mobile_base, with_l_arm, with_r_arm, with_neck, with_antennas)"
+            )

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -0,0 +1,230 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+from typing import Any
+
+import numpy as np
+from reachy2_sdk import ReachySDK
+
+from lerobot.cameras.utils import make_cameras_from_configs
+
+from ..robot import Robot
+from ..utils import ensure_safe_goal_position
+from .configuration_reachy2 import Reachy2RobotConfig
+
+# {lerobot_keys: reachy2_sdk_keys}
+REACHY2_NECK_JOINTS = {
+    "neck_yaw.pos": "head.neck.yaw",
+    "neck_pitch.pos": "head.neck.pitch",
+    "neck_roll.pos": "head.neck.roll",
+}
+
+REACHY2_ANTENNAS_JOINTS = {
+    "l_antenna.pos": "head.l_antenna",
+    "r_antenna.pos": "head.r_antenna",
+}
+
+REACHY2_R_ARM_JOINTS = {
+    "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",
+}
+
+REACHY2_L_ARM_JOINTS = {
+    "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",
+}
+
+
+class Reachy2Robot(Robot):
+    """
+    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
+    """
+
+    config_class = Reachy2RobotConfig
+    name = "reachy2"
+
+    def __init__(self, config: Reachy2RobotConfig):
+        super().__init__(config)
+
+        self.config = config
+        self.robot_type = self.config.type
+        self.use_external_commands = self.config.use_external_commands
+
+        self.reachy: None | ReachySDK = None
+        self.cameras = make_cameras_from_configs(config.cameras)
+
+        self.logs: dict[str, float] = {}
+
+        self.joints_dict: dict[str, str] = self._generate_joints_dict()
+
+    @property
+    def observation_features(self) -> dict[str, Any]:
+        return {**self.motors_features, **self.camera_features}
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        return self.motors_features
+
+    @property
+    def camera_features(self) -> dict[str, tuple[int | None, int | None, int]]:
+        return {cam: (self.cameras[cam].height, self.cameras[cam].width, 3) for cam in self.cameras}
+
+    @property
+    def motors_features(self) -> dict[str, type]:
+        if self.config.with_mobile_base:
+            return {
+                **dict.fromkeys(
+                    self.joints_dict.keys(),
+                    float,
+                ),
+                **dict.fromkeys(
+                    REACHY2_VEL.keys(),
+                    float,
+                ),
+            }
+        else:
+            return dict.fromkeys(self.joints_dict.keys(), float)
+
+    @property
+    def is_connected(self) -> bool:
+        return self.reachy.is_connected() if self.reachy is not None else False
+
+    def connect(self, calibrate: bool = False) -> None:
+        self.reachy = ReachySDK(self.config.ip_address)
+        if not self.is_connected:
+            raise ConnectionError()
+
+        for cam in self.cameras.values():
+            cam.connect()
+
+        self.configure()
+
+    def configure(self) -> None:
+        if self.reachy is not None:
+            self.reachy.turn_on()
+            self.reachy.reset_default_limits()
+
+    @property
+    def is_calibrated(self) -> bool:
+        return True
+
+    def calibrate(self) -> None:
+        pass
+
+    def _generate_joints_dict(self) -> dict[str, str]:
+        joints = {}
+        if self.config.with_neck:
+            joints.update(REACHY2_NECK_JOINTS)
+        if self.config.with_l_arm:
+            joints.update(REACHY2_L_ARM_JOINTS)
+        if self.config.with_r_arm:
+            joints.update(REACHY2_R_ARM_JOINTS)
+        if self.config.with_antennas:
+            joints.update(REACHY2_ANTENNAS_JOINTS)
+        return joints
+
+    def _get_state(self) -> dict[str, float]:
+        if self.reachy is not None:
+            pos_dict = {k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()}
+            if not self.config.with_mobile_base:
+                return pos_dict
+            vel_dict = {k: self.reachy.mobile_base.odometry[v] for k, v in REACHY2_VEL.items()}
+            return {**pos_dict, **vel_dict}
+        else:
+            return {}
+
+    def get_observation(self) -> dict[str, np.ndarray]:
+        obs_dict: dict[str, Any] = {}
+
+        # Read Reachy 2 state
+        before_read_t = time.perf_counter()
+        obs_dict.update(self._get_state())
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+
+        # Capture images from cameras
+        for cam_key, cam in self.cameras.items():
+            obs_dict[cam_key] = cam.async_read()
+
+        return obs_dict
+
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        if self.reachy is not None:
+            if not self.is_connected:
+                raise ConnectionError()
+
+            before_write_t = time.perf_counter()
+
+            vel = {}
+            goal_pos = {}
+            for key, val in action.items():
+                if key not in self.joints_dict:
+                    if key not in REACHY2_VEL:
+                        raise KeyError(f"Key '{key}' is not a valid motor key in Reachy 2.")
+                    else:
+                        vel[REACHY2_VEL[key]] = float(val)
+                else:
+                    if not self.use_external_commands and self.config.max_relative_target is not None:
+                        goal_pos[key] = float(val)
+                        goal_present_pos = {
+                            key: (
+                                goal_pos[key],
+                                self.reachy.joints[self.joints_dict[key]].present_position,
+                            )
+                        }
+                        safe_goal_pos = ensure_safe_goal_position(
+                            goal_present_pos, float(self.config.max_relative_target)
+                        )
+                        val = safe_goal_pos[key]
+                    self.reachy.joints[self.joints_dict[key]].goal_position = float(val)
+
+            if self.config.with_mobile_base:
+                self.reachy.mobile_base.set_goal_speed(vel["vx"], vel["vy"], vel["vtheta"])
+
+            # We don't send the goal positions if we control Reachy 2 externally
+            if not self.use_external_commands:
+                self.reachy.send_goal_positions()
+                if self.config.with_mobile_base:
+                    self.reachy.mobile_base.send_speed_command()
+
+            self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
+        return action
+
+    def disconnect(self) -> None:
+        if self.reachy is not None:
+            for cam in self.cameras.values():
+                cam.disconnect()
+            if self.config.disable_torque_on_disconnect:
+                self.reachy.turn_off_smoothly()
+            self.reachy.disconnect()

src/lerobot/robots/utils.py

@@ -61,6 +61,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .bi_so100_follower import BiSO100Follower
 
         return BiSO100Follower(config)
+    elif config.type == "reachy2":
+        from .reachy2 import Reachy2Robot
+
+        return Reachy2Robot(config)
     elif config.type == "mock_robot":
         from tests.mocks.mock_robot import MockRobot
 

src/lerobot/teleoperators/reachy2_teleoperator/__init__.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
+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/config_reachy2_teleoperator.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+
+from ..config import TeleoperatorConfig
+
+
+@TeleoperatorConfig.register_subclass("reachy2_teleoperator")
+@dataclass
+class Reachy2TeleoperatorConfig(TeleoperatorConfig):
+    # IP address of the Reachy 2 robot used as teleoperator
+    ip_address: str | None = "localhost"
+
+    # Whether to use the present position of the joints as actions
+    # if False, the goal position of the joints will be used
+    use_present_position: bool = False
+
+    # Which parts of the robot to use
+    with_mobile_base: bool = True
+    with_l_arm: bool = True
+    with_r_arm: bool = True
+    with_neck: bool = True
+    with_antennas: bool = True
+
+    def __post_init__(self):
+        if not (
+            self.with_mobile_base
+            or self.with_l_arm
+            or self.with_r_arm
+            or self.with_neck
+            or self.with_antennas
+        ):
+            raise ValueError(
+                "No Reachy2Teleoperator part used.\n"
+                "At least one part of the robot must be set to True "
+                "(with_mobile_base, with_l_arm, with_r_arm, with_neck, with_antennas)"
+            )

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

@@ -0,0 +1,164 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+
+from reachy2_sdk import ReachySDK
+
+from ..teleoperator import Teleoperator
+from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
+
+logger = logging.getLogger(__name__)
+
+# {lerobot_keys: reachy2_sdk_keys}
+REACHY2_NECK_JOINTS = {
+    "neck_yaw.pos": "head.neck.yaw",
+    "neck_pitch.pos": "head.neck.pitch",
+    "neck_roll.pos": "head.neck.roll",
+}
+
+REACHY2_ANTENNAS_JOINTS = {
+    "l_antenna.pos": "head.l_antenna",
+    "r_antenna.pos": "head.r_antenna",
+}
+
+REACHY2_R_ARM_JOINTS = {
+    "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",
+}
+
+REACHY2_L_ARM_JOINTS = {
+    "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",
+}
+
+
+class Reachy2Teleoperator(Teleoperator):
+    """
+    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
+    """
+
+    config_class = Reachy2TeleoperatorConfig
+    name = "reachy2_specific"
+
+    def __init__(self, config: Reachy2TeleoperatorConfig):
+        super().__init__(config)
+        self.config = config
+        self.reachy: None | ReachySDK = None
+
+        self.joints_dict: dict[str, str] = self._generate_joints_dict()
+
+    def _generate_joints_dict(self) -> dict[str, str]:
+        joints = {}
+        if self.config.with_neck:
+            joints.update(REACHY2_NECK_JOINTS)
+        if self.config.with_l_arm:
+            joints.update(REACHY2_L_ARM_JOINTS)
+        if self.config.with_r_arm:
+            joints.update(REACHY2_R_ARM_JOINTS)
+        if self.config.with_antennas:
+            joints.update(REACHY2_ANTENNAS_JOINTS)
+        return joints
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        if self.config.with_mobile_base:
+            return {
+                **dict.fromkeys(
+                    self.joints_dict.keys(),
+                    float,
+                ),
+                **dict.fromkeys(
+                    REACHY2_VEL.keys(),
+                    float,
+                ),
+            }
+        else:
+            return dict.fromkeys(self.joints_dict.keys(), float)
+
+    @property
+    def feedback_features(self) -> dict[str, type]:
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        return self.reachy.is_connected() if self.reachy is not None else False
+
+    def connect(self, calibrate: bool = True) -> None:
+        self.reachy = ReachySDK(self.config.ip_address)
+        if not self.is_connected:
+            raise ConnectionError()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return True
+
+    def calibrate(self) -> None:
+        pass
+
+    def configure(self) -> None:
+        pass
+
+    def get_action(self) -> dict[str, float]:
+        start = time.perf_counter()
+
+        if self.reachy and self.is_connected:
+            if self.config.use_present_position:
+                joint_action = {
+                    k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()
+                }
+            else:
+                joint_action = {k: self.reachy.joints[v].goal_position for k, v in self.joints_dict.items()}
+
+            if not self.config.with_mobile_base:
+                dt_ms = (time.perf_counter() - start) * 1e3
+                logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+                return joint_action
+
+            if self.config.use_present_position:
+                vel_action = {k: self.reachy.mobile_base.odometry[v] for k, v in REACHY2_VEL.items()}
+            else:
+                vel_action = {k: self.reachy.mobile_base.last_cmd_vel[v] for k, v in REACHY2_VEL.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        return {**joint_action, **vel_action}
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        raise NotImplementedError
+
+    def disconnect(self) -> None:
+        if self.reachy and self.is_connected:
+            self.reachy.disconnect()

src/lerobot/teleoperators/utils.py

@@ -65,5 +65,9 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .bi_so100_leader import BiSO100Leader
 
         return BiSO100Leader(config)
+    elif config.type == "reachy2_teleoperator":
+        from .reachy2_teleoperator import Reachy2Teleoperator
+
+        return Reachy2Teleoperator(config)
     else:
         raise ValueError(config.type)

tests/cameras/test_reachy2_camera.py

@@ -0,0 +1,179 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+from unittest.mock import MagicMock, patch
+
+import numpy as np
+import pytest
+
+from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
+from lerobot.errors import DeviceNotConnectedError
+
+pytest.importorskip("reachy2_sdk")
+
+PARAMS = [
+    ("teleop", "left"),
+    ("teleop", "right"),
+    ("depth", "rgb"),
+    # ("depth", "depth"),  # Depth camera is not available yet
+]
+
+
+def _make_cam_manager_mock():
+    c = MagicMock(name="CameraManagerMock")
+
+    teleop = MagicMock(name="TeleopCam")
+    teleop.width = 640
+    teleop.height = 480
+    teleop.get_frame = MagicMock(
+        side_effect=lambda *_, **__: (
+            np.zeros((480, 640, 3), dtype=np.uint8),
+            time.time(),
+        )
+    )
+
+    depth = MagicMock(name="DepthCam")
+    depth.width = 640
+    depth.height = 480
+    depth.get_frame = MagicMock(
+        side_effect=lambda *_, **__: (
+            np.zeros((480, 640, 3), dtype=np.uint8),
+            time.time(),
+        )
+    )
+
+    c.is_connected.return_value = True
+    c.teleop = teleop
+    c.depth = depth
+
+    def _connect():
+        c.teleop = teleop
+        c.depth = depth
+        c.is_connected.return_value = True
+
+    def _disconnect():
+        c.teleop = None
+        c.depth = None
+        c.is_connected.return_value = False
+
+    c.connect = MagicMock(side_effect=_connect)
+    c.disconnect = MagicMock(side_effect=_disconnect)
+
+    # Mock methods
+    c.initialize_cameras = MagicMock()
+
+    return c
+
+
+@pytest.fixture(
+    params=PARAMS,
+    # ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],
+    ids=["teleop-left", "teleop-right", "torso-rgb"],
+)
+def camera(request):
+    name, image_type = request.param
+    with (
+        patch(
+            "lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
+            side_effect=lambda *a, **k: _make_cam_manager_mock(),
+        ),
+    ):
+        config = Reachy2CameraConfig(name=name, image_type=image_type)
+        cam = Reachy2Camera(config)
+        yield cam
+        if cam.is_connected:
+            cam.disconnect()
+
+
+def test_connect(camera):
+    camera.connect()
+    assert camera.is_connected
+    camera.cam_manager.initialize_cameras.assert_called_once()
+
+
+def test_read(camera):
+    camera.connect()
+
+    img = camera.read()
+    if camera.config.name == "teleop":
+        camera.cam_manager.teleop.get_frame.assert_called_once()
+    elif camera.config.name == "depth":
+        camera.cam_manager.depth.get_frame.assert_called_once()
+    assert isinstance(img, np.ndarray)
+    assert img.shape == (480, 640, 3)
+
+
+def test_disconnect(camera):
+    camera.connect()
+
+    camera.disconnect()
+    assert not camera.is_connected
+
+
+def test_async_read(camera):
+    camera.connect()
+    try:
+        img = camera.async_read()
+
+        assert camera.thread is not None
+        assert camera.thread.is_alive()
+        assert isinstance(img, np.ndarray)
+    finally:
+        if camera.is_connected:
+            camera.disconnect()
+
+
+def test_async_read_timeout(camera):
+    camera.connect()
+    try:
+        with pytest.raises(TimeoutError):
+            camera.async_read(timeout_ms=0)
+    finally:
+        if camera.is_connected:
+            camera.disconnect()
+
+
+def test_read_before_connect(camera):
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.read()
+
+
+def test_disconnect_before_connect(camera):
+    with pytest.raises(DeviceNotConnectedError):
+        camera.disconnect()
+
+
+def test_async_read_before_connect(camera):
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.async_read()
+
+
+def test_wrong_camera_name():
+    with pytest.raises(ValueError):
+        _ = Reachy2CameraConfig(name="wrong-name", image_type="left")
+
+
+def test_wrong_image_type():
+    with pytest.raises(ValueError):
+        _ = Reachy2CameraConfig(name="teleop", image_type="rgb")
+    with pytest.raises(ValueError):
+        _ = Reachy2CameraConfig(name="depth", image_type="left")
+
+
+def test_wrong_color_mode():
+    with pytest.raises(ValueError):
+        _ = Reachy2CameraConfig(name="teleop", image_type="left", color_mode="wrong-color")

tests/robots/test_reachy2.py

@@ -0,0 +1,328 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from unittest.mock import MagicMock, patch
+
+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 = {
+    **REACHY2_NECK_JOINTS,
+    **REACHY2_ANTENNAS_JOINTS,
+    **REACHY2_R_ARM_JOINTS,
+    **REACHY2_L_ARM_JOINTS,
+}
+
+PARAMS = [
+    {},  # default config
+    {"with_mobile_base": False},
+    {"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
+    {"with_r_arm": False, "with_neck": False, "with_antennas": False},
+    {"use_external_commands": True, "disable_torque_on_disconnect": True},
+    {"use_external_commands": True, "with_mobile_base": False, "with_neck": False},
+    {"disable_torque_on_disconnect": False},
+    {"max_relative_target": 5},
+    {"with_right_teleop_camera": False},
+    {"with_left_teleop_camera": False, "with_right_teleop_camera": False},
+    {"with_left_teleop_camera": False, "with_torso_camera": True},
+]
+
+pytest.importorskip("reachy2_sdk")
+
+
+def _make_reachy2_sdk_mock():
+    class JointSpy:
+        __slots__ = (
+            "present_position",
+            "_goal_position",
+            "_on_set",
+        )
+
+        def __init__(self, present_position=0.0, on_set=None):
+            self.present_position = present_position
+            self._goal_position = present_position
+            self._on_set = on_set
+
+        @property
+        def goal_position(self):
+            return self._goal_position
+
+        @goal_position.setter
+        def goal_position(self, v):
+            self._goal_position = v
+            if self._on_set:
+                self._on_set()
+
+    r = MagicMock(name="ReachySDKMock")
+    r.is_connected.return_value = True
+
+    def _connect():
+        r.is_connected.return_value = True
+
+    def _disconnect():
+        r.is_connected.return_value = False
+
+    # Global counter of goal_position sets
+    r._goal_position_set_total = 0
+
+    def _on_any_goal_set():
+        r._goal_position_set_total += 1
+
+    # Mock joints with some dummy positions
+    joints = {
+        k: JointSpy(
+            present_position=float(i),
+            on_set=_on_any_goal_set,
+        )
+        for i, k in enumerate(REACHY2_JOINTS.values())
+    }
+    r.joints = joints
+
+    # Mock mobile base with some dummy odometry
+    r.mobile_base = MagicMock()
+    r.mobile_base.odometry = {
+        "x": 0.1,
+        "y": -0.2,
+        "theta": 21.3,
+        "vx": 0.001,
+        "vy": 0.002,
+        "vtheta": 0.0,
+    }
+
+    r.connect = MagicMock(side_effect=_connect)
+    r.disconnect = MagicMock(side_effect=_disconnect)
+
+    # Mock methods
+    r.turn_on = MagicMock()
+    r.reset_default_limits = MagicMock()
+    r.send_goal_positions = MagicMock()
+    r.turn_off_smoothly = MagicMock()
+    r.mobile_base.set_goal_speed = MagicMock()
+    r.mobile_base.send_speed_command = MagicMock()
+
+    return r
+
+
+def _make_reachy2_camera_mock(*args, **kwargs):
+    cfg = args[0] if args else kwargs.get("config")
+    name = getattr(cfg, "name", kwargs.get("name", "cam"))
+    image_type = getattr(cfg, "image_type", kwargs.get("image_type", "cam"))
+    width = getattr(cfg, "width", kwargs.get("width", 640))
+    height = getattr(cfg, "height", kwargs.get("height", 480))
+
+    cam = MagicMock(name=f"Reachy2CameraMock:{name}")
+    cam.name = name
+    cam.image_type = image_type
+    cam.width = width
+    cam.height = height
+    cam.connect = MagicMock()
+    cam.disconnect = MagicMock()
+    cam.async_read = MagicMock(side_effect=lambda: np.zeros((height, width, 3), dtype=np.uint8))
+    return cam
+
+
+@pytest.fixture(params=PARAMS, ids=lambda p: "default" if not p else ",".join(p.keys()))
+def reachy2(request):
+    with (
+        patch(
+            "lerobot.robots.reachy2.robot_reachy2.ReachySDK",
+            side_effect=lambda *a, **k: _make_reachy2_sdk_mock(),
+        ),
+        patch(
+            "lerobot.cameras.reachy2_camera.reachy2_camera.Reachy2Camera",
+            side_effect=_make_reachy2_camera_mock,
+        ),
+    ):
+        overrides = request.param
+        cfg = Reachy2RobotConfig(ip_address="192.168.0.200", **overrides)
+        robot = Reachy2Robot(cfg)
+        yield robot
+        if robot.is_connected:
+            robot.disconnect()
+
+
+def test_connect_disconnect(reachy2):
+    assert not reachy2.is_connected
+
+    reachy2.connect()
+    assert reachy2.is_connected
+
+    reachy2.reachy.turn_on.assert_called_once()
+    reachy2.reachy.reset_default_limits.assert_called_once()
+
+    reachy2.disconnect()
+    assert not reachy2.is_connected
+
+    if reachy2.config.disable_torque_on_disconnect:
+        reachy2.reachy.turn_off_smoothly.assert_called_once()
+    else:
+        reachy2.reachy.turn_off_smoothly.assert_not_called()
+    reachy2.reachy.disconnect.assert_called_once()
+
+
+def test_get_joints_dict(reachy2):
+    reachy2.connect()
+
+    if reachy2.config.with_neck:
+        assert "neck_yaw.pos" in reachy2.joints_dict
+        assert "neck_pitch.pos" in reachy2.joints_dict
+        assert "neck_roll.pos" in reachy2.joints_dict
+    else:
+        assert "neck_yaw.pos" not in reachy2.joints_dict
+        assert "neck_pitch.pos" not in reachy2.joints_dict
+        assert "neck_roll.pos" not in reachy2.joints_dict
+
+    if reachy2.config.with_antennas:
+        assert "l_antenna.pos" in reachy2.joints_dict
+        assert "r_antenna.pos" in reachy2.joints_dict
+    else:
+        assert "l_antenna.pos" not in reachy2.joints_dict
+        assert "r_antenna.pos" not in reachy2.joints_dict
+
+    if reachy2.config.with_r_arm:
+        assert "r_shoulder_pitch.pos" in reachy2.joints_dict
+        assert "r_shoulder_roll.pos" in reachy2.joints_dict
+        assert "r_elbow_yaw.pos" in reachy2.joints_dict
+        assert "r_elbow_pitch.pos" in reachy2.joints_dict
+        assert "r_wrist_roll.pos" in reachy2.joints_dict
+        assert "r_wrist_pitch.pos" in reachy2.joints_dict
+        assert "r_wrist_yaw.pos" in reachy2.joints_dict
+        assert "r_gripper.pos" in reachy2.joints_dict
+    else:
+        assert "r_shoulder_pitch.pos" not in reachy2.joints_dict
+        assert "r_shoulder_roll.pos" not in reachy2.joints_dict
+        assert "r_elbow_yaw.pos" not in reachy2.joints_dict
+        assert "r_elbow_pitch.pos" not in reachy2.joints_dict
+        assert "r_wrist_roll.pos" not in reachy2.joints_dict
+        assert "r_wrist_pitch.pos" not in reachy2.joints_dict
+        assert "r_wrist_yaw.pos" not in reachy2.joints_dict
+        assert "r_gripper.pos" not in reachy2.joints_dict
+
+    if reachy2.config.with_l_arm:
+        assert "l_shoulder_pitch.pos" in reachy2.joints_dict
+        assert "l_shoulder_roll.pos" in reachy2.joints_dict
+        assert "l_elbow_yaw.pos" in reachy2.joints_dict
+        assert "l_elbow_pitch.pos" in reachy2.joints_dict
+        assert "l_wrist_roll.pos" in reachy2.joints_dict
+        assert "l_wrist_pitch.pos" in reachy2.joints_dict
+        assert "l_wrist_yaw.pos" in reachy2.joints_dict
+        assert "l_gripper.pos" in reachy2.joints_dict
+    else:
+        assert "l_shoulder_pitch.pos" not in reachy2.joints_dict
+        assert "l_shoulder_roll.pos" not in reachy2.joints_dict
+        assert "l_elbow_yaw.pos" not in reachy2.joints_dict
+        assert "l_elbow_pitch.pos" not in reachy2.joints_dict
+        assert "l_wrist_roll.pos" not in reachy2.joints_dict
+        assert "l_wrist_pitch.pos" not in reachy2.joints_dict
+        assert "l_wrist_yaw.pos" not in reachy2.joints_dict
+        assert "l_gripper.pos" not in reachy2.joints_dict
+
+
+def test_get_observation(reachy2):
+    reachy2.connect()
+    obs = reachy2.get_observation()
+
+    expected_keys = set(reachy2.joints_dict)
+    expected_keys.update(f"{v}" for v in REACHY2_VEL.keys() if reachy2.config.with_mobile_base)
+    expected_keys.update(reachy2.cameras.keys())
+    assert set(obs.keys()) == expected_keys
+
+    for motor in reachy2.joints_dict.keys():
+        assert obs[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
+    if reachy2.config.with_mobile_base:
+        for vel in REACHY2_VEL.keys():
+            assert obs[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
+    if reachy2.config.with_left_teleop_camera:
+        assert obs["teleop_left"].shape == (
+            reachy2.config.cameras["teleop_left"].height,
+            reachy2.config.cameras["teleop_left"].width,
+            3,
+        )
+    if reachy2.config.with_right_teleop_camera:
+        assert obs["teleop_right"].shape == (
+            reachy2.config.cameras["teleop_right"].height,
+            reachy2.config.cameras["teleop_right"].width,
+            3,
+        )
+    if reachy2.config.with_torso_camera:
+        assert obs["torso_rgb"].shape == (
+            reachy2.config.cameras["torso_rgb"].height,
+            reachy2.config.cameras["torso_rgb"].width,
+            3,
+        )
+
+
+def test_send_action(reachy2):
+    reachy2.connect()
+
+    action = {k: i * 10.0 for i, k in enumerate(reachy2.joints_dict.keys(), start=1)}
+    if reachy2.config.with_mobile_base:
+        action.update({k: i * 0.1 for i, k in enumerate(REACHY2_VEL.keys(), start=1)})
+
+    previous_present_position = {
+        k: reachy2.reachy.joints[REACHY2_JOINTS[k]].present_position for k in reachy2.joints_dict.keys()
+    }
+    returned = reachy2.send_action(action)
+
+    if reachy2.config.max_relative_target is None:
+        assert returned == action
+
+    assert reachy2.reachy._goal_position_set_total == len(reachy2.joints_dict)
+    for motor in reachy2.joints_dict.keys():
+        expected_pos = action[motor]
+        real_pos = reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
+        if reachy2.config.max_relative_target is None:
+            assert real_pos == expected_pos
+        else:
+            assert real_pos == previous_present_position[motor] + np.sign(expected_pos) * min(
+                abs(expected_pos - real_pos), reachy2.config.max_relative_target
+            )
+
+    if reachy2.config.with_mobile_base:
+        goal_speed = [i * 0.1 for i, _ in enumerate(REACHY2_VEL.keys(), start=1)]
+        reachy2.reachy.mobile_base.set_goal_speed.assert_called_once_with(*goal_speed)
+
+    if reachy2.config.use_external_commands:
+        reachy2.reachy.send_goal_positions.assert_not_called()
+        if reachy2.config.with_mobile_base:
+            reachy2.reachy.mobile_base.send_speed_command.assert_not_called()
+    else:
+        reachy2.reachy.send_goal_positions.assert_called_once()
+        if reachy2.config.with_mobile_base:
+            reachy2.reachy.mobile_base.send_speed_command.assert_called_once()
+
+
+def test_no_part_declared():
+    with pytest.raises(ValueError):
+        _ = Reachy2RobotConfig(
+            ip_address="192.168.0.200",
+            with_mobile_base=False,
+            with_l_arm=False,
+            with_r_arm=False,
+            with_neck=False,
+            with_antennas=False,
+        )

tests/teleoperators/test_reachy2_teleoperator.py

@@ -0,0 +1,152 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+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,
+)
+
+pytest.importorskip("reachy2_sdk")
+
+# {lerobot_keys: reachy2_sdk_keys}
+REACHY2_JOINTS = {
+    **REACHY2_NECK_JOINTS,
+    **REACHY2_ANTENNAS_JOINTS,
+    **REACHY2_R_ARM_JOINTS,
+    **REACHY2_L_ARM_JOINTS,
+}
+
+PARAMS = [
+    {},  # default config
+    {"with_mobile_base": False},
+    {"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
+    {"with_r_arm": False, "with_neck": False, "with_antennas": False},
+    {"with_mobile_base": False, "with_neck": False},
+    {"use_present_position": True},
+]
+
+
+def _make_reachy2_sdk_mock():
+    r = MagicMock(name="ReachySDKMock")
+    r.is_connected.return_value = True
+
+    def _connect():
+        r.is_connected.return_value = True
+
+    def _disconnect():
+        r.is_connected.return_value = False
+
+    # Mock joints with some dummy positions
+    joints = {
+        k: MagicMock(
+            present_position=float(i),
+            goal_position=float(i) + 0.5,
+        )
+        for i, k in enumerate(REACHY2_JOINTS.values())
+    }
+    r.joints = joints
+
+    # Mock mobile base with some dummy odometry
+    r.mobile_base = MagicMock()
+    r.mobile_base.last_cmd_vel = {
+        "vx": -0.2,
+        "vy": 0.2,
+        "vtheta": 11.0,
+    }
+    r.mobile_base.odometry = {
+        "x": 1.0,
+        "y": 2.0,
+        "theta": 20.0,
+        "vx": 0.1,
+        "vy": -0.1,
+        "vtheta": 8.0,
+    }
+
+    r.connect = MagicMock(side_effect=_connect)
+    r.disconnect = MagicMock(side_effect=_disconnect)
+
+    return r
+
+
+@pytest.fixture(params=PARAMS, ids=lambda p: "default" if not p else ",".join(p.keys()))
+def reachy2(request):
+    with (
+        patch(
+            "lerobot.teleoperators.reachy2_teleoperator.reachy2_teleoperator.ReachySDK",
+            side_effect=lambda *a, **k: _make_reachy2_sdk_mock(),
+        ),
+    ):
+        overrides = request.param
+        cfg = Reachy2TeleoperatorConfig(ip_address="192.168.0.200", **overrides)
+        robot = Reachy2Teleoperator(cfg)
+        yield robot
+        if robot.is_connected:
+            robot.disconnect()
+
+
+def test_connect_disconnect(reachy2):
+    assert not reachy2.is_connected
+
+    reachy2.connect()
+    assert reachy2.is_connected
+
+    reachy2.disconnect()
+    assert not reachy2.is_connected
+
+    reachy2.reachy.disconnect.assert_called_once()
+
+
+def test_get_action(reachy2):
+    reachy2.connect()
+    action = reachy2.get_action()
+
+    expected_keys = set(reachy2.joints_dict)
+    expected_keys.update(f"{v}" for v in REACHY2_VEL.keys() if reachy2.config.with_mobile_base)
+    assert set(action.keys()) == expected_keys
+
+    for motor in reachy2.joints_dict.keys():
+        if reachy2.config.use_present_position:
+            assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
+        else:
+            assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
+    if reachy2.config.with_mobile_base:
+        if reachy2.config.use_present_position:
+            for vel in REACHY2_VEL.keys():
+                assert action[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
+        else:
+            for vel in REACHY2_VEL.keys():
+                assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]
+
+
+def test_no_part_declared():
+    with pytest.raises(ValueError):
+        _ = Reachy2TeleoperatorConfig(
+            ip_address="192.168.0.200",
+            with_mobile_base=False,
+            with_l_arm=False,
+            with_r_arm=False,
+            with_neck=False,
+            with_antennas=False,
+        )