Use Rerun 0.27 + native URDF loader

pyproject.toml

@@ -12,7 +12,7 @@ requires-python = ">=3.10"
 dependencies = [
     "numpy>=2.2.5",
     "scipy>=1.15.3, <2.0.0",
-    "reachy_mini_motor_controller>=1.3.0",    
+    "reachy_mini_motor_controller>=1.3.0",
     "eclipse-zenoh>=1.4.0",
     "opencv-python<=5.0",
     "cv2_enumerate_cameras>=1.2.1",
@@ -23,22 +23,23 @@ dependencies = [
     "pyserial",
     "huggingface-hub==0.34.4",
     "sounddevice==0.5.1",
-    "soundfile==0.13.1",    
+    "soundfile==0.13.1",
     "reachy-mini-rust-kinematics>=1.0.1",
     "asgiref",
     "aiohttp",
     "log-throttling==0.0.3",
     "pyusb>=1.2.1",
     "libusb_package>=1.0.26.3",
     "pip>=25",
+    "rerun-sdk==0.27.1",
 ]
 
 
 [project.optional-dependencies]
 dev = [
-    "pytest", 
+    "pytest",
     "pytest-asyncio",
-    "ruff==0.12.0", 
+    "ruff==0.12.0",
     "onshape-to-robot==1.7.6",
     "mujoco==3.3.0",
     "placo==0.9.14",
@@ -57,11 +58,7 @@ rerun = [
     # See https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
     # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
 ]
-wireless-version = [
-    "semver>=3,<4",
-    "nmcli>=1.5",
-    "pollen_BMI088_imu_library"
-]
+wireless-version = ["semver>=3,<4", "nmcli>=1.5", "pollen_BMI088_imu_library"]
 
 [project.scripts]
 reachy-mini-daemon = "reachy_mini.daemon.app.main:main"
@@ -109,4 +106,3 @@ python_version = "3.10"
 files = ["src/"]
 ignore_missing_imports = true
 strict = true
-

src/reachy_mini/daemon/backend/mujoco/backend.py

@@ -182,6 +182,11 @@ def run(self) -> None:
                 self.current_antenna_joint_positions = (
                     self.get_present_antenna_joint_positions()
                 )
+                # Update the Placo kinematics model to recompute passive joints
+                self.update_head_kinematics_model(
+                    self.current_head_joint_positions,
+                    self.current_antenna_joint_positions,
+                )
                 self.current_head_pose = self.get_mj_present_head_pose()
 
                 # Update the target head joint positions from IK if necessary

src/reachy_mini/kinematics/placo_kinematics.py

@@ -11,6 +11,8 @@
 import pinocchio as pin
 import placo
 
+from scipy.spatial.transform import Rotation as R
+
 
 class PlacoKinematics:
     """Placo Kinematics class for Reachy Mini.
@@ -269,8 +271,8 @@ def _pose_distance(
             float: The Euler distance between the two poses.
 
         """
-        euler1 = pin.rpy.matrixToRpy(pose1[:3, :3])
-        euler2 = pin.rpy.matrixToRpy(pose2[:3, :3])
+        euler1 = R.from_matrix(pose1[:3, :3]).as_euler("xyz")
+        euler2 = R.from_matrix(pose2[:3, :3]).as_euler("xyz")
         p1 = pose1[:3, 3]
         p2 = pose2[:3, 3]
         return float(np.linalg.norm(euler1 - euler2)), float(np.linalg.norm(p1 - p2))