fix(robots): add reachy2 fixes (huggingface#2783)

* fix(robots): add reachy2 fixes

* tests(robots): remove reachy sdk stub

Author: imstevenpmwork

docs/source/reachy2.mdx

@@ -38,6 +38,7 @@ docker run --rm -it \
   start_rviz:=true start_sdk_server:=true mujoco:=true
 ```
 
+> [!NOTE]
 > 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:
 >
 > ```
@@ -141,7 +142,7 @@ If you choose this option but still want to use the VR teleoperation application
 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 \
+lerobot-record \
     --robot.type=reachy2 \
     --robot.ip_address=192.168.0.200 \
     --robot.id=r2-0000 \
@@ -150,6 +151,7 @@ python -m lerobot.record \
     --teleop.type=reachy2_teleoperator \
     --teleop.ip_address=192.168.0.200 \
     --teleop.with_mobile_base=false \
+    --robot.with_torso_camera=true \
     --dataset.repo_id=pollen_robotics/record_test \
     --dataset.single_task="Reachy 2 recording test" \
     --dataset.num_episodes=1 \
@@ -165,7 +167,7 @@ python -m lerobot.record \
 **Extended setup overview (all options included):**
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
     --robot.type=reachy2 \
     --robot.ip_address=192.168.0.200 \
     --robot.use_external_commands=true \
@@ -177,6 +179,8 @@ python -m lerobot.record \
     --robot.with_left_teleop_camera=true \
     --robot.with_right_teleop_camera=true \
     --robot.with_torso_camera=false \
+    --robot.camera_width=640 \
+    --robot.camera_height=480 \
     --robot.disable_torque_on_disconnect=false \
     --robot.max_relative_target=5.0 \
     --teleop.type=reachy2_teleoperator \
@@ -212,59 +216,71 @@ Must be set to true if a compliant Reachy 2 is used to control another one.
 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:
 
-````
+```bash
 --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.
 
-````
-
+```bash
 --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`.
+> 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:
+You can do the same for **cameras**. Enable or disable each camera with default parameters using:
+
+```bash
+--robot.with_left_teleop_camera=<true|false> \
+--robot.with_right_teleop_camera=<true|false> \
+--robot.with_torso_camera=<true|false>
+```
+
+By default, no camera is recorded, all camera arguments are set to `false`.
+If you want to, you can use custom `width` and `height` parameters for Reachy 2's cameras using the `--robot.camera_width` & `--robot.camera_height` argument:
 
+```bash
+--robot.camera_width=1920 \
+--robot.camera_height=1080
 ```
 
---robot.with_left_teleop_camera=<true|false>
---robot.with_right_teleop_camera=<true|false>
---robot.with_torso_camera=<true|false>
+This will change the resolution of all 3 default robot cameras (enabled by the above bool arguments).
 
-````
+If you want, you can add additional cameras other than the ones in the robot as usual with:
 
+```bash
+--robot.cameras="{ extra: {type: opencv, index_or_path: 42, width: 640, height: 480, fps: 30}}" \
+```
 
 ## Step 2: Replay
 
 Make sure the robot is configured with the same parts as the dataset:
 
 ```bash
-python -m lerobot.replay \
+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 \
+lerobot-train \
   --dataset.repo_id=pollen_robotics/record_test \
   --policy.type=act \
   --output_dir=outputs/train/reachy2_test \
@@ -277,10 +293,9 @@ python -m lerobot.scripts.train \
 ## Step 4: Evaluate
 
 ```bash
-python -m lerobot.record \
+lerobot-eval \
   --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 \

pyproject.toml

@@ -111,7 +111,7 @@ unitree_g1 = [
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0"
 ]
-reachy2 = ["reachy2_sdk>=1.0.14,<1.1.0"]
+reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",

src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py

@@ -35,18 +35,19 @@ class Reachy2CameraConfig(CameraConfig):
         name="teleop",
         image_type="left",
         ip_address="192.168.0.200",  # IP address of the robot
-        fps=15,
+        port=50065,  # Port of the camera server
         width=640,
         height=480,
+        fps=30,  # Not configurable for Reachy 2 cameras
         color_mode=ColorMode.RGB,
-    )  # Left teleop camera, 640x480 @ 15FPS
+    )  # Left teleop camera, 640x480 @ 30FPS
     ```
 
     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.
+        fps: Requested frames per second for the color stream. Not configurable for Reachy 2 cameras.
         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.
@@ -62,7 +63,6 @@ class Reachy2CameraConfig(CameraConfig):
     color_mode: ColorMode = ColorMode.RGB
     ip_address: str | None = "localhost"
     port: int = 50065
-    # use_depth: bool = False
 
     def __post_init__(self) -> None:
         if self.name not in ["teleop", "depth"]: