From 13a2091db3a8fa1c8cceb56a6c1bcb007ca1fd33 Mon Sep 17 00:00:00 2001 From: apirrone Date: Mon, 25 Nov 2024 16:56:11 +0100 Subject: [PATCH] handling reachy not having a leader arm. Starting to work --- lerobot/common/robot_devices/control_utils.py | 2 +- lerobot/common/robot_devices/robots/reachy2.py | 7 ++++--- lerobot/configs/robot/reachy2.yaml | 8 ++++---- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py index 08bcec2e..50bea881 100644 --- a/lerobot/common/robot_devices/control_utils.py +++ b/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: diff --git a/lerobot/common/robot_devices/robots/reachy2.py b/lerobot/common/robot_devices/robots/reachy2.py index 905b2d0d..aa9c6fc8 100644 --- a/lerobot/common/robot_devices/robots/reachy2.py +++ b/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: diff --git a/lerobot/configs/robot/reachy2.yaml b/lerobot/configs/robot/reachy2.yaml index a7335a68..635e6c68 100644 --- a/lerobot/configs/robot/reachy2.yaml +++ b/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