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chore: enable simplify in ruff lint (#2085)

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This commit is contained in:
Steven Palma
2025-09-29 15:06:56 +02:00
committed by GitHub
parent c378a325f0
commit bbcf66bd82
13 changed files with 32 additions and 43 deletions
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10
tests/robots/test_reachy2.py
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@@ -245,14 +245,14 @@ def test_get_observation(reachy2):
obs = reachy2.get_observation()
expected_keys = set(reachy2.joints_dict)
expected_keys.update(f"{v}" for v in REACHY2_VEL.keys() if reachy2.config.with_mobile_base)
expected_keys.update(f"{v}" for v in REACHY2_VEL if reachy2.config.with_mobile_base)
expected_keys.update(reachy2.cameras.keys())
assert set(obs.keys()) == expected_keys
for motor in reachy2.joints_dict.keys():
for motor in reachy2.joints_dict:
assert obs[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
if reachy2.config.with_mobile_base:
for vel in REACHY2_VEL.keys():
for vel in REACHY2_VEL:
assert obs[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
if reachy2.config.with_left_teleop_camera:
assert obs["teleop_left"].shape == (
@@ -282,7 +282,7 @@ def test_send_action(reachy2):
action.update({k: i * 0.1 for i, k in enumerate(REACHY2_VEL.keys(), start=1)})
previous_present_position = {
k: reachy2.reachy.joints[REACHY2_JOINTS[k]].present_position for k in reachy2.joints_dict.keys()
k: reachy2.reachy.joints[REACHY2_JOINTS[k]].present_position for k in reachy2.joints_dict
}
returned = reachy2.send_action(action)
@@ -290,7 +290,7 @@ def test_send_action(reachy2):
assert returned == action
assert reachy2.reachy._goal_position_set_total == len(reachy2.joints_dict)
for motor in reachy2.joints_dict.keys():
for motor in reachy2.joints_dict:
expected_pos = action[motor]
real_pos = reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
if reachy2.config.max_relative_target is None: