reachy-mini 1.0.0rc4__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(),

{reachy_mini-1.0.0rc4.dist-info → reachy_mini-1.0.0rc5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: reachy_mini
-Version: 1.0.0rc4
+Version: 1.0.0rc5
 Author-email: Pollen Robotics <contact@pollen-robotics.com>
 Requires-Python: >=3.10
 Description-Content-Type: text/markdown

{reachy_mini-1.0.0rc4.dist-info → reachy_mini-1.0.0rc5.dist-info}/RECORD

@@ -1,6 +1,6 @@
 reachy_mini/__init__.py,sha256=z_mfvMIlQRoM92C7JKL5hfcwW3Rj1fcjmMu8bYErWaU,146
 reachy_mini/reachy_mini.py,sha256=aLtbrRTJdXi4z7g3SBw9BGdDSXY43MaUyzfgh_W6aRE,26600
-reachy_mini/apps/__init__.py,sha256=v1odVqsuwya_9ljadRaN4zrSamtSj-dgvICF9hphAYY,445
+reachy_mini/apps/__init__.py,sha256=8bn_Xg2VEPW9_zrDdY2f8vFuBc3HMZdDZXkbqFQhLlI,450
 reachy_mini/apps/app.py,sha256=DTWWv1LZwdHYXcdc2c1fr3NBkNvLadrMU0mjvUdNAaE,3611
 reachy_mini/apps/manager.py,sha256=E2aLhlsA2qpeCEDA6IWFmK0PKQFxHEFw3UC7CQiSRao,5923
 reachy_mini/apps/utils.py,sha256=-jBerybitAZIFDJG9F9Dposf25mPF6Xw8l2q81ikKxc,865
@@ -24,7 +24,7 @@ reachy_mini/assets/models/fknetwork_int8.onnx,sha256=LGk6x0ijQNE5jW0ri5Budv_prsB
 reachy_mini/assets/models/iknetwork.onnx,sha256=U4vgZe2vGPda4F9MF_42tbCYzVxy1tTTy2FSxA3mjSc,75213
 reachy_mini/daemon/__init__.py,sha256=ooxWDybdqMxd1M3Y7BWu-hITVVOy4Pl3cld6pL9zMdk,30
 reachy_mini/daemon/daemon.py,sha256=Uz4-WCGY7W4IbYv0kOv8Qer4Kcb-F-t7dSJam_qPazE,17723
-reachy_mini/daemon/utils.py,sha256=ZVX9K9979yEPXi-_O7V-Ago1QHztvz9HXPtQmvMQ4vc,3902
+reachy_mini/daemon/utils.py,sha256=KsnTst09wuN4LnHyVLDOAKrtgXVhDaSBvkW-0kZqp3w,3910
 reachy_mini/daemon/app/__init__.py,sha256=n1gEJJUXvzUi3ITIKNVxpF7hyuaK4Bd5mB3-EbA2PMI,34
 reachy_mini/daemon/app/dependencies.py,sha256=jvVNOAvLKhvDH--J3XFe8KX3iqKjhbB64rsr97Lf8k8,1141
 reachy_mini/daemon/app/main.py,sha256=QAQWmOIWaEYRPzZwbsDu6YgWTWYoWXGn2vPYod4zhR4,8141
@@ -44,7 +44,7 @@ reachy_mini/daemon/app/templates/dashboard.html,sha256=zhu3dt5JlLc94cv8vxxZxvbTo
 reachy_mini/daemon/backend/__init__.py,sha256=NwCHpDkYfir6wM4A8iHzBi5aCKHLVnHKjx6Oau0iLdM,45
 reachy_mini/daemon/backend/abstract.py,sha256=25tRrEh87n7-MXUmryVvdbDHi4RPlxoPoODVPRZ1yLQ,26992
 reachy_mini/daemon/backend/mujoco/__init__.py,sha256=tA1KOVy1TgupO-tKEOUmMYKZD7SWBiw3Pnl7pGh3UY8,1160
-reachy_mini/daemon/backend/mujoco/backend.py,sha256=Eyk6ei-vhqKqFA_Z4kvzSkDoR4uLvLRjpZtGCKXo_30,10860
+reachy_mini/daemon/backend/mujoco/backend.py,sha256=HsBwC3Ui_k6RIujWUpZ0tC-u-DgMocpMOKlYnvWPpL8,10862
 reachy_mini/daemon/backend/mujoco/utils.py,sha256=bSDplTzS9wlWbiojVyDJWdU_SZN8UHfTj7Ui7U1vF2k,2068
 reachy_mini/daemon/backend/mujoco/video_udp.py,sha256=tnvqJGPHJelLQ2Ne7J8qQU8IhC3MIe1vrr8xmD983is,1750
 reachy_mini/daemon/backend/robot/__init__.py,sha256=Xapj7k2h-52S8Xg96r8L-wU61k-wgQUa6ogC7FVTf_8,192
@@ -351,9 +351,9 @@ reachy_mini/utils/__init__.py,sha256=uU3ijBB7k20NX0FrMYYs0y-vYy15C-S6ygKNIf5GHso
 reachy_mini/utils/constants.py,sha256=W_ktFfDgB3yAhtnxDoptQbn0l_sMblex5RV8O6xz3rQ,343
 reachy_mini/utils/interpolation.py,sha256=nmjtAUvPuiMANU6EZ40cY6FbCvnVTEWGHjLrWEUC_-g,7470
 reachy_mini/utils/parse_urdf_for_kinematics.py,sha256=xdZEnHX3NrzNiMVqcEfffPzdLEsQP7iNFL-mbTRAoCk,3094
-reachy_mini-1.0.0rc4.dist-info/licenses/LICENSE,sha256=HNZs1-9QuyR_Q9JH98KjJZpgDZURcOd411ySeOVoDwM,11345
-reachy_mini-1.0.0rc4.dist-info/METADATA,sha256=I0cAUPFwNsEceD8VSG1T54yEAR_0aG7RyPIQ8HQbSQA,9949
-reachy_mini-1.0.0rc4.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-reachy_mini-1.0.0rc4.dist-info/entry_points.txt,sha256=EjQ7AFOtiAk6ZW0SdueiOjIt9Osm6KugjH-CvwAObEE,126
-reachy_mini-1.0.0rc4.dist-info/top_level.txt,sha256=wRwzlPSRaVWmqWx0_K0BfpPe8q8p91OB-sSKiBBoEFc,12
-reachy_mini-1.0.0rc4.dist-info/RECORD,,
+reachy_mini-1.0.0rc5.dist-info/licenses/LICENSE,sha256=HNZs1-9QuyR_Q9JH98KjJZpgDZURcOd411ySeOVoDwM,11345
+reachy_mini-1.0.0rc5.dist-info/METADATA,sha256=wtSodaXgYcZ8f1AVI5YQpvR19Mpx5gDMDW3o7rYLSOY,9949
+reachy_mini-1.0.0rc5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+reachy_mini-1.0.0rc5.dist-info/entry_points.txt,sha256=EjQ7AFOtiAk6ZW0SdueiOjIt9Osm6KugjH-CvwAObEE,126
+reachy_mini-1.0.0rc5.dist-info/top_level.txt,sha256=wRwzlPSRaVWmqWx0_K0BfpPe8q8p91OB-sSKiBBoEFc,12
+reachy_mini-1.0.0rc5.dist-info/RECORD,,