reachy-mini 1.0.0rc1__py3-none-any.whl → 1.0.0rc5__py3-none-any.whl

reachy_mini/apps/__init__.py

@@ -2,7 +2,7 @@
 
 from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict
+from typing import Any, Dict
 
 
 class SourceKind(str, Enum):
@@ -20,4 +20,4 @@ class AppInfo:
     source_kind: SourceKind
     description: str = ""
     url: str | None = None
-    extra: Dict[str, str] = field(default_factory=dict)
+    extra: Dict[str, Any] = field(default_factory=dict)

reachy_mini/daemon/backend/mujoco/backend.py

@@ -199,7 +199,7 @@ class MujocoBackend(Backend):
                 if self.target_head_joint_positions is not None:
                     self.data.ctrl[:7] = self.target_head_joint_positions
                 if self.target_antenna_joint_positions is not None:
-                    self.data.ctrl[-2:] = self.target_antenna_joint_positions
+                    self.data.ctrl[-2:] = -self.target_antenna_joint_positions
 
                 if (
                     self.joint_positions_publisher is not None
@@ -282,7 +282,7 @@ class MujocoBackend(Backend):
         pos: npt.NDArray[np.float64] = self.data.qpos[
             self.joint_qpos_addr[-2:]
         ].flatten()
-        return pos
+        return -pos
 
     def get_motor_control_mode(self) -> MotorControlMode:
         """Get the motor control mode."""

reachy_mini/daemon/utils.py

@@ -1,6 +1,5 @@
 """Utilities for managing the Reachy Mini daemon."""
 
-import fcntl
 import os
 import socket
 import struct
@@ -91,6 +90,7 @@ def get_ip_address(ifname: str = "wlan0") -> str | None:
     """Get the IP address of a specific network interface (Linux Only)."""
     s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
     try:
+        import fcntl
         return socket.inet_ntoa(
             fcntl.ioctl(
                 s.fileno(),