handling reachy not having a leader arm. Starting to work

lerobot/common/robot_devices/control_utils.py

@@ -43,7 +43,7 @@ def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, f
     log_dt("dt", dt_s)
 
     # TODO(aliberts): move robot-specific logs logic in robot.print_logs()
-    if not robot.robot_type.startswith("stretch"):
+    if not robot.robot_type.startswith(("stretch", "Reachy")):
         for name in robot.leader_arms:
             key = f"read_leader_{name}_pos_dt_s"
             if key in robot.logs:

lerobot/common/robot_devices/robots/reachy2.py

@@ -15,20 +15,21 @@
 # limitations under the License.
 
 import time
+from copy import copy
 from dataclasses import dataclass, field, replace
 
 import numpy as np
 import torch
-from lerobot.common.robot_devices.cameras.utils import Camera
 from reachy2_sdk import ReachySDK
-from copy import copy
+
+from lerobot.common.robot_devices.cameras.utils import Camera
 
 
 @dataclass
 class ReachyRobotConfig:
     robot_type: str | None = "Reachy2"
     cameras: dict[str, Camera] = field(default_factory=lambda: {})
-    ip_address: str | None = "localhost"
+    ip_address: str | None = "172.17.135.207"
 
 
 class ReachyRobot:

lerobot/configs/robot/reachy2.yaml

@@ -13,24 +13,24 @@ cameras:
   head_left:
     _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
     name: teleop
-    host: localhost
+    host: 172.17.135.207
     port: 50065
     image_type: left
   head_right:
     _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
     name: teleop
-    host: localhost
+    host: 172.17.135.207
     port: 50065
     image_type: right
   torso_rgb:
     _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
     name: depth
-    host: localhost
+    host: 172.17.135.207
     port: 50065
     image_type: rgb
   torso_depth:
     _target_: lerobot.common.robot_devices.cameras.reachy2.ReachyCamera
     name: depth
-    host: localhost
+    host: 172.17.135.207
     port: 50065
     image_type: depth