hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

chore: enable simplify in ruff lint (#2085)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

8
tests/teleoperators/test_reachy2_teleoperator.py
View File

@@ -121,20 +121,20 @@ def test_get_action(reachy2):
action = reachy2.get_action()
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)
assert set(action.keys()) == expected_keys
for motor in reachy2.joints_dict.keys():
for motor in reachy2.joints_dict:
if reachy2.config.use_present_position:
assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
else:
assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
if reachy2.config.with_mobile_base:
if reachy2.config.use_present_position:
for vel in REACHY2_VEL.keys():
for vel in REACHY2_VEL:
assert action[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
else:
for vel in REACHY2_VEL.keys():
for vel in REACHY2_VEL:
assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]