2 add reachy 2 to updated lerobot #1767

glannuzel · 2025-08-21T13:26:04Z

[Development still in progress]
[More details will be added for the tests as well]

What this does

Add Reachy 2 to LeRobot.

How it was tested

Record and replay functions have been tested on a fake robot, using MuJoCo, as well as on a real robot.
Train and evaluate features have not been tested since all the modifications.

Tests have been added as well, you can call:

for the robot reachy2:

pytest tests/robots/test_reachy2.py

for the teleoperator reachy2_teleoperator:

pytest tests/teleoperators/test_reachy2_teleoperator.py

for the cameras reachy2_camera:

pytest tests/cameras/test_reachy2_camera.py

How to checkout & try? (for the reviewer)

Install the new dependences in your working env using pip install -e .[reachy2] in the lerobot folder (it should install reachy2-sdk).

Record function

Find out the correct IP address of your robot, and make sure the dashboard is not running on your robot (accessible from your navigator on the same network as the robot at <robot.ip.address>.local:8000 if running)
Download the test_file to send commands to the robot:
Launch the test_file using python test_file_reachy2.py --ip_address your.robot.ip.address in your working env. It will set the robot in the default position.
Wait until record is ready before pressing Enter to send commands.

Make sure there is enough place around the robot, the commands will send the elbow at 90 degrees

We will use the robot as its own teleoperator. In another terminal, with your robot correct IP address, launch the following command:
Don't forget to modify both the robot.ip_address and the teleop.ip_address

python -m lerobot.record \
    --robot.type=reachy2 \
    --robot.ip_address=192.168.10.147 \
    --robot.id=r2-0000 \
    --robot.use_external_commands=true \
    --teleop.type=reachy2_teleoperator \
    --teleop.ip_address=192.168.10.147 \
    --teleop.use_present_position=true \
    --dataset.repo_id=test/record_test \
    --dataset.single_task="Reachy 2 recording test" \
    --dataset.num_episodes=1 \
    --dataset.episode_time_s=15 \
    --dataset.fps=15 \
    --dataset.push_to_hub=false \
    --dataset.private=true \
    --display_data=false

When it starts recording, press enter in the terminal running the test_file_reachy2.py to send commands to the robot

Replay function

With the correct IP address, launch:

python -m lerobot.replay \
    --robot.type=reachy2 \
    --robot.ip_address=192.168.10.147 \
    --robot.use_external_commands=false \
    --dataset.repo_id=test/record_test \
    --dataset.episode=0

Update LeRobot

Separate parts in config

…-fix-reachy2-tests fix(tests) fixes for reachy2 tests; removing reachy2 references from …

src/lerobot/record.py

imstevenpmwork · 2025-09-05T12:44:34Z

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

+                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}


joint_action could be undefined at return time if if self.reachy and self.is_connected: is false

imstevenpmwork · 2025-09-05T12:47:30Z

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

+        logger.info(f"{self} connected.")
+
+    @staticmethod
+    def find_cameras(ip_address: str = "localhost", port: int = 50065) -> list[dict[str, Any]]:


Given that this method is implemented, shouldn't we add this to find_cameras main script?

imstevenpmwork · 2025-09-05T12:52:53Z

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

+
+        self.config = config
+
+        self.fps = config.fps


self.fps is not being used

imstevenpmwork · 2025-09-05T12:53:34Z

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

+        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]


Seem like the resolution is hard-coded, shouldn't this be coming from the config?

imstevenpmwork · 2025-09-05T12:55:44Z

src/lerobot/cameras/reachy2_camera/reachy2_camera.py

+
+        if self.cam_manager is None:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        else:


No need for this else. We can early Raise and we save the indentation block

imstevenpmwork · 2025-09-05T13:02:46Z

src/lerobot/robots/reachy2/configuration_reachy2.py

+                ip_address=self.ip_address,
+                fps=15,
+                width=640,
+                height=480,


Any reason why fps, width and height are hard-coded?

imstevenpmwork · 2025-09-05T13:06:27Z

src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py

+    def get_action(self) -> dict[str, float]:
+        start = time.perf_counter()
+
+        if self.reachy and self.is_connected:


Checking for self.reachy is redundant as this is already checked in self.is_connected

…1767

* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <[email protected]>

…1767 (#1876)

…uggingface#1767 (huggingface#1876)

* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <[email protected]>

…uggingface#1767 (huggingface#1876)

* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <[email protected]>

…uggingface#1767 (huggingface#1876)

* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <[email protected]>

…1767 (#1876)

imstevenpmwork · 2026-01-12T16:27:50Z

All review comments were addressed in #2783

* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <[email protected]>

…uggingface#1767 (huggingface#1876)

glannuzel and others added 30 commits July 28, 2025 10:51

Merge pull request #3 from huggingface/main

4a12333

Update LeRobot

Start adding Reachy 2 (no camera)

0800406

Fix joint shape

40cb84c

Remove print

2d646fb

Modify observation_features

32b08a2

Fix observation state

6acb6bd

Try adding a fake Reachy teleoperator

8de5610

Saving test scripts

08c47ea

Add reachy2camera to cameras

8b9fc0d

Add teleop_left camera to observation

18e7232

Create test_reachy2_camera.py

9735606

Update utils.py

c9dc121

Add all rgb cameras

042e348

Future depth work

096cdeb

Try adding mobile_base velocity

ddaca00

Update tests

8217f44

Update data_acquisition_server.py

6cc6fb3

Update with use_external_commands

58b6dd0

Replay

ee406bd

Usable with or without mobile base

75652a3

No need for new isntance

346d495

Use same ip for cameras

f9b8be5

Remove useless imports

33b6a4d

Add resume

20f5f45

Divide joints in multiple dicts

8236f7b

Divide joinits into several dicts in teleoperator

cba7339

Fix forgotten method call

674996d

Create test_robot_client.py

146403a

Open gripper on start

2379c36

Merge pull request #5 from pollen-robotics/separate-parts-in-config

091fbd8

Separate parts in config

glannuzel and others added 2 commits September 5, 2025 09:53

Merge pull request #9 from huggingface/user/michel-aractingi/2025-9-4…

a936a28

…-fix-reachy2-tests fix(tests) fixes for reachy2 tests; removing reachy2 references from …

Add reachy2_sdk fake as plugins

9f5f431

pkooij self-requested a review September 5, 2025 08:47

pkooij approved these changes Sep 5, 2025

View reviewed changes

pkooij merged commit 6a3d570 into huggingface:main Sep 5, 2025
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imstevenpmwork mentioned this pull request Sep 5, 2025

Release 0.4.0 #1654

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fix(scripts): revert deletion of rs cam config import introduced by #…

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…1767

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fix(scripts): revert deletion of rs cam config import introduced by #1767 #1876

Merged

fix(robots): fixes for reachy #1877

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fix(scripts): revert deletion of rs cam config import introduced by #…

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…1767 (#1876)

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…uggingface#1767 (huggingface#1876)

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…uggingface#1767 (huggingface#1876)

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fix(scripts): revert deletion of rs cam config import introduced by h…

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fix(scripts): revert deletion of rs cam config import introduced by #…

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…1767 (#1876)

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fix(robots): add reachy2 fixes #2783

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2 add reachy 2 to updated lerobot #1767

2 add reachy 2 to updated lerobot #1767

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2 add reachy 2 to updated lerobot #1767

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What this does

How it was tested

How to checkout & try? (for the reviewer)

Record function

Replay function

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glannuzel commented Aug 21, 2025 •

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