2 add reachy 2 to updated lerobot (#1767)
* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Gaëlle Lannuzel
177
tests/cameras/test_reachy2_camera.py
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177
tests/cameras/test_reachy2_camera.py
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@@ -0,0 +1,177 @@
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#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import time
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from unittest.mock import MagicMock, patch
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import numpy as np
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import pytest
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from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
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from lerobot.errors import DeviceNotConnectedError
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PARAMS = [
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("teleop", "left"),
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("teleop", "right"),
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("depth", "rgb"),
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# ("depth", "depth"), # Depth camera is not available yet
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]
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def _make_cam_manager_mock():
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c = MagicMock(name="CameraManagerMock")
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teleop = MagicMock(name="TeleopCam")
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teleop.width = 640
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teleop.height = 480
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teleop.get_frame = MagicMock(
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side_effect=lambda *_, **__: (
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np.zeros((480, 640, 3), dtype=np.uint8),
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time.time(),
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)
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)
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depth = MagicMock(name="DepthCam")
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depth.width = 640
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depth.height = 480
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depth.get_frame = MagicMock(
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side_effect=lambda *_, **__: (
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np.zeros((480, 640, 3), dtype=np.uint8),
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time.time(),
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)
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)
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c.is_connected.return_value = True
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c.teleop = teleop
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c.depth = depth
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def _connect():
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c.teleop = teleop
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c.depth = depth
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c.is_connected.return_value = True
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def _disconnect():
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c.teleop = None
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c.depth = None
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c.is_connected.return_value = False
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c.connect = MagicMock(side_effect=_connect)
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c.disconnect = MagicMock(side_effect=_disconnect)
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# Mock methods
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c.initialize_cameras = MagicMock()
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return c
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@pytest.fixture(
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params=PARAMS,
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# ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],
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ids=["teleop-left", "teleop-right", "torso-rgb"],
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)
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def camera(request):
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name, image_type = request.param
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with (
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patch(
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"lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
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side_effect=lambda *a, **k: _make_cam_manager_mock(),
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),
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):
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config = Reachy2CameraConfig(name=name, image_type=image_type)
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cam = Reachy2Camera(config)
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yield cam
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if cam.is_connected:
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cam.disconnect()
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def test_connect(camera):
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camera.connect()
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assert camera.is_connected
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camera.cam_manager.initialize_cameras.assert_called_once()
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def test_read(camera):
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camera.connect()
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img = camera.read()
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if camera.config.name == "teleop":
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camera.cam_manager.teleop.get_frame.assert_called_once()
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elif camera.config.name == "depth":
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camera.cam_manager.depth.get_frame.assert_called_once()
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assert isinstance(img, np.ndarray)
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assert img.shape == (480, 640, 3)
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def test_disconnect(camera):
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camera.connect()
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camera.disconnect()
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assert not camera.is_connected
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def test_async_read(camera):
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camera.connect()
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try:
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img = camera.async_read()
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assert camera.thread is not None
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assert camera.thread.is_alive()
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assert isinstance(img, np.ndarray)
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finally:
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if camera.is_connected:
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camera.disconnect()
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def test_async_read_timeout(camera):
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camera.connect()
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try:
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with pytest.raises(TimeoutError):
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camera.async_read(timeout_ms=0)
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finally:
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if camera.is_connected:
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camera.disconnect()
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def test_read_before_connect(camera):
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.read()
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def test_disconnect_before_connect(camera):
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with pytest.raises(DeviceNotConnectedError):
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camera.disconnect()
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def test_async_read_before_connect(camera):
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with pytest.raises(DeviceNotConnectedError):
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_ = camera.async_read()
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def test_wrong_camera_name():
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with pytest.raises(ValueError):
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_ = Reachy2CameraConfig(name="wrong-name", image_type="left")
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def test_wrong_image_type():
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with pytest.raises(ValueError):
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_ = Reachy2CameraConfig(name="teleop", image_type="rgb")
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with pytest.raises(ValueError):
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_ = Reachy2CameraConfig(name="depth", image_type="left")
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def test_wrong_color_mode():
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with pytest.raises(ValueError):
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_ = Reachy2CameraConfig(name="teleop", image_type="left", color_mode="wrong-color")
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@@ -28,6 +28,7 @@ pytest_plugins = [
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"tests.fixtures.files",
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"tests.fixtures.hub",
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"tests.fixtures.optimizers",
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"tests.plugins.reachy2_sdk",
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]
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30
tests/plugins/reachy2_sdk.py
Normal file
30
tests/plugins/reachy2_sdk.py
Normal file
@@ -0,0 +1,30 @@
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import sys
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import types
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from unittest.mock import MagicMock
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def _install_reachy2_sdk_stub():
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sdk = types.ModuleType("reachy2_sdk")
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sdk.__path__ = []
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sdk.ReachySDK = MagicMock(name="ReachySDK")
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media = types.ModuleType("reachy2_sdk.media")
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media.__path__ = []
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camera = types.ModuleType("reachy2_sdk.media.camera")
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camera.CameraView = MagicMock(name="CameraView")
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camera_manager = types.ModuleType("reachy2_sdk.media.camera_manager")
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camera_manager.CameraManager = MagicMock(name="CameraManager")
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sdk.media = media
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media.camera = camera
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media.camera_manager = camera_manager
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# Register in sys.modules
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sys.modules.setdefault("reachy2_sdk", sdk)
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sys.modules.setdefault("reachy2_sdk.media", media)
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sys.modules.setdefault("reachy2_sdk.media.camera", camera)
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sys.modules.setdefault("reachy2_sdk.media.camera_manager", camera_manager)
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def pytest_sessionstart(session):
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_install_reachy2_sdk_stub()
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326
tests/robots/test_reachy2.py
Normal file
326
tests/robots/test_reachy2.py
Normal file
@@ -0,0 +1,326 @@
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#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
|
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
|
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# distributed under the License is distributed on an "AS IS" BASIS,
|
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from unittest.mock import MagicMock, patch
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import numpy as np
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import pytest
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from lerobot.robots.reachy2 import (
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REACHY2_ANTENNAS_JOINTS,
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REACHY2_L_ARM_JOINTS,
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REACHY2_NECK_JOINTS,
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REACHY2_R_ARM_JOINTS,
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REACHY2_VEL,
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Reachy2Robot,
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Reachy2RobotConfig,
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)
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# {lerobot_keys: reachy2_sdk_keys}
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REACHY2_JOINTS = {
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**REACHY2_NECK_JOINTS,
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**REACHY2_ANTENNAS_JOINTS,
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**REACHY2_R_ARM_JOINTS,
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**REACHY2_L_ARM_JOINTS,
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}
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PARAMS = [
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{}, # default config
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{"with_mobile_base": False},
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{"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
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{"with_r_arm": False, "with_neck": False, "with_antennas": False},
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{"use_external_commands": True, "disable_torque_on_disconnect": True},
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{"use_external_commands": True, "with_mobile_base": False, "with_neck": False},
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{"disable_torque_on_disconnect": False},
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{"max_relative_target": 5},
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{"with_right_teleop_camera": False},
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{"with_left_teleop_camera": False, "with_right_teleop_camera": False},
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{"with_left_teleop_camera": False, "with_torso_camera": True},
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]
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def _make_reachy2_sdk_mock():
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class JointSpy:
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__slots__ = (
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"present_position",
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"_goal_position",
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"_on_set",
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)
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def __init__(self, present_position=0.0, on_set=None):
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self.present_position = present_position
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self._goal_position = present_position
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self._on_set = on_set
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@property
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def goal_position(self):
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return self._goal_position
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@goal_position.setter
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def goal_position(self, v):
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self._goal_position = v
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if self._on_set:
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self._on_set()
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r = MagicMock(name="ReachySDKMock")
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r.is_connected.return_value = True
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def _connect():
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r.is_connected.return_value = True
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def _disconnect():
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r.is_connected.return_value = False
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# Global counter of goal_position sets
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r._goal_position_set_total = 0
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def _on_any_goal_set():
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r._goal_position_set_total += 1
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# Mock joints with some dummy positions
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joints = {
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k: JointSpy(
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present_position=float(i),
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on_set=_on_any_goal_set,
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)
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for i, k in enumerate(REACHY2_JOINTS.values())
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}
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r.joints = joints
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# Mock mobile base with some dummy odometry
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r.mobile_base = MagicMock()
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r.mobile_base.odometry = {
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"x": 0.1,
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"y": -0.2,
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"theta": 21.3,
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"vx": 0.001,
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"vy": 0.002,
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"vtheta": 0.0,
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}
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r.connect = MagicMock(side_effect=_connect)
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r.disconnect = MagicMock(side_effect=_disconnect)
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# Mock methods
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r.turn_on = MagicMock()
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r.reset_default_limits = MagicMock()
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r.send_goal_positions = MagicMock()
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r.turn_off_smoothly = MagicMock()
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r.mobile_base.set_goal_speed = MagicMock()
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r.mobile_base.send_speed_command = MagicMock()
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return r
|
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|
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|
||||
def _make_reachy2_camera_mock(*args, **kwargs):
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cfg = args[0] if args else kwargs.get("config")
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name = getattr(cfg, "name", kwargs.get("name", "cam"))
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image_type = getattr(cfg, "image_type", kwargs.get("image_type", "cam"))
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width = getattr(cfg, "width", kwargs.get("width", 640))
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height = getattr(cfg, "height", kwargs.get("height", 480))
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cam = MagicMock(name=f"Reachy2CameraMock:{name}")
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cam.name = name
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cam.image_type = image_type
|
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cam.width = width
|
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cam.height = height
|
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cam.connect = MagicMock()
|
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cam.disconnect = MagicMock()
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cam.async_read = MagicMock(side_effect=lambda: np.zeros((height, width, 3), dtype=np.uint8))
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return cam
|
||||
|
||||
|
||||
@pytest.fixture(params=PARAMS, ids=lambda p: "default" if not p else ",".join(p.keys()))
|
||||
def reachy2(request):
|
||||
with (
|
||||
patch(
|
||||
"lerobot.robots.reachy2.robot_reachy2.ReachySDK",
|
||||
side_effect=lambda *a, **k: _make_reachy2_sdk_mock(),
|
||||
),
|
||||
patch(
|
||||
"lerobot.cameras.reachy2_camera.reachy2_camera.Reachy2Camera",
|
||||
side_effect=_make_reachy2_camera_mock,
|
||||
),
|
||||
):
|
||||
overrides = request.param
|
||||
cfg = Reachy2RobotConfig(ip_address="192.168.0.200", **overrides)
|
||||
robot = Reachy2Robot(cfg)
|
||||
yield robot
|
||||
if robot.is_connected:
|
||||
robot.disconnect()
|
||||
|
||||
|
||||
def test_connect_disconnect(reachy2):
|
||||
assert not reachy2.is_connected
|
||||
|
||||
reachy2.connect()
|
||||
assert reachy2.is_connected
|
||||
|
||||
reachy2.reachy.turn_on.assert_called_once()
|
||||
reachy2.reachy.reset_default_limits.assert_called_once()
|
||||
|
||||
reachy2.disconnect()
|
||||
assert not reachy2.is_connected
|
||||
|
||||
if reachy2.config.disable_torque_on_disconnect:
|
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reachy2.reachy.turn_off_smoothly.assert_called_once()
|
||||
else:
|
||||
reachy2.reachy.turn_off_smoothly.assert_not_called()
|
||||
reachy2.reachy.disconnect.assert_called_once()
|
||||
|
||||
|
||||
def test_get_joints_dict(reachy2):
|
||||
reachy2.connect()
|
||||
|
||||
if reachy2.config.with_neck:
|
||||
assert "neck_yaw.pos" in reachy2.joints_dict
|
||||
assert "neck_pitch.pos" in reachy2.joints_dict
|
||||
assert "neck_roll.pos" in reachy2.joints_dict
|
||||
else:
|
||||
assert "neck_yaw.pos" not in reachy2.joints_dict
|
||||
assert "neck_pitch.pos" not in reachy2.joints_dict
|
||||
assert "neck_roll.pos" not in reachy2.joints_dict
|
||||
|
||||
if reachy2.config.with_antennas:
|
||||
assert "l_antenna.pos" in reachy2.joints_dict
|
||||
assert "r_antenna.pos" in reachy2.joints_dict
|
||||
else:
|
||||
assert "l_antenna.pos" not in reachy2.joints_dict
|
||||
assert "r_antenna.pos" not in reachy2.joints_dict
|
||||
|
||||
if reachy2.config.with_r_arm:
|
||||
assert "r_shoulder_pitch.pos" in reachy2.joints_dict
|
||||
assert "r_shoulder_roll.pos" in reachy2.joints_dict
|
||||
assert "r_elbow_yaw.pos" in reachy2.joints_dict
|
||||
assert "r_elbow_pitch.pos" in reachy2.joints_dict
|
||||
assert "r_wrist_roll.pos" in reachy2.joints_dict
|
||||
assert "r_wrist_pitch.pos" in reachy2.joints_dict
|
||||
assert "r_wrist_yaw.pos" in reachy2.joints_dict
|
||||
assert "r_gripper.pos" in reachy2.joints_dict
|
||||
else:
|
||||
assert "r_shoulder_pitch.pos" not in reachy2.joints_dict
|
||||
assert "r_shoulder_roll.pos" not in reachy2.joints_dict
|
||||
assert "r_elbow_yaw.pos" not in reachy2.joints_dict
|
||||
assert "r_elbow_pitch.pos" not in reachy2.joints_dict
|
||||
assert "r_wrist_roll.pos" not in reachy2.joints_dict
|
||||
assert "r_wrist_pitch.pos" not in reachy2.joints_dict
|
||||
assert "r_wrist_yaw.pos" not in reachy2.joints_dict
|
||||
assert "r_gripper.pos" not in reachy2.joints_dict
|
||||
|
||||
if reachy2.config.with_l_arm:
|
||||
assert "l_shoulder_pitch.pos" in reachy2.joints_dict
|
||||
assert "l_shoulder_roll.pos" in reachy2.joints_dict
|
||||
assert "l_elbow_yaw.pos" in reachy2.joints_dict
|
||||
assert "l_elbow_pitch.pos" in reachy2.joints_dict
|
||||
assert "l_wrist_roll.pos" in reachy2.joints_dict
|
||||
assert "l_wrist_pitch.pos" in reachy2.joints_dict
|
||||
assert "l_wrist_yaw.pos" in reachy2.joints_dict
|
||||
assert "l_gripper.pos" in reachy2.joints_dict
|
||||
else:
|
||||
assert "l_shoulder_pitch.pos" not in reachy2.joints_dict
|
||||
assert "l_shoulder_roll.pos" not in reachy2.joints_dict
|
||||
assert "l_elbow_yaw.pos" not in reachy2.joints_dict
|
||||
assert "l_elbow_pitch.pos" not in reachy2.joints_dict
|
||||
assert "l_wrist_roll.pos" not in reachy2.joints_dict
|
||||
assert "l_wrist_pitch.pos" not in reachy2.joints_dict
|
||||
assert "l_wrist_yaw.pos" not in reachy2.joints_dict
|
||||
assert "l_gripper.pos" not in reachy2.joints_dict
|
||||
|
||||
|
||||
def test_get_observation(reachy2):
|
||||
reachy2.connect()
|
||||
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(reachy2.cameras.keys())
|
||||
assert set(obs.keys()) == expected_keys
|
||||
|
||||
for motor in reachy2.joints_dict.keys():
|
||||
assert obs[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
|
||||
if reachy2.config.with_mobile_base:
|
||||
for vel in REACHY2_VEL.keys():
|
||||
assert obs[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
|
||||
if reachy2.config.with_left_teleop_camera:
|
||||
assert obs["teleop_left"].shape == (
|
||||
reachy2.config.cameras["teleop_left"].height,
|
||||
reachy2.config.cameras["teleop_left"].width,
|
||||
3,
|
||||
)
|
||||
if reachy2.config.with_right_teleop_camera:
|
||||
assert obs["teleop_right"].shape == (
|
||||
reachy2.config.cameras["teleop_right"].height,
|
||||
reachy2.config.cameras["teleop_right"].width,
|
||||
3,
|
||||
)
|
||||
if reachy2.config.with_torso_camera:
|
||||
assert obs["torso_rgb"].shape == (
|
||||
reachy2.config.cameras["torso_rgb"].height,
|
||||
reachy2.config.cameras["torso_rgb"].width,
|
||||
3,
|
||||
)
|
||||
|
||||
|
||||
def test_send_action(reachy2):
|
||||
reachy2.connect()
|
||||
|
||||
action = {k: i * 10.0 for i, k in enumerate(reachy2.joints_dict.keys(), start=1)}
|
||||
if reachy2.config.with_mobile_base:
|
||||
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()
|
||||
}
|
||||
returned = reachy2.send_action(action)
|
||||
|
||||
if reachy2.config.max_relative_target is None:
|
||||
assert returned == action
|
||||
|
||||
assert reachy2.reachy._goal_position_set_total == len(reachy2.joints_dict)
|
||||
for motor in reachy2.joints_dict.keys():
|
||||
expected_pos = action[motor]
|
||||
real_pos = reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
|
||||
if reachy2.config.max_relative_target is None:
|
||||
assert real_pos == expected_pos
|
||||
else:
|
||||
assert real_pos == previous_present_position[motor] + np.sign(expected_pos) * min(
|
||||
abs(expected_pos - real_pos), reachy2.config.max_relative_target
|
||||
)
|
||||
|
||||
if reachy2.config.with_mobile_base:
|
||||
goal_speed = [i * 0.1 for i, _ in enumerate(REACHY2_VEL.keys(), start=1)]
|
||||
reachy2.reachy.mobile_base.set_goal_speed.assert_called_once_with(*goal_speed)
|
||||
|
||||
if reachy2.config.use_external_commands:
|
||||
reachy2.reachy.send_goal_positions.assert_not_called()
|
||||
if reachy2.config.with_mobile_base:
|
||||
reachy2.reachy.mobile_base.send_speed_command.assert_not_called()
|
||||
else:
|
||||
reachy2.reachy.send_goal_positions.assert_called_once()
|
||||
if reachy2.config.with_mobile_base:
|
||||
reachy2.reachy.mobile_base.send_speed_command.assert_called_once()
|
||||
|
||||
|
||||
def test_no_part_declared():
|
||||
with pytest.raises(ValueError):
|
||||
_ = Reachy2RobotConfig(
|
||||
ip_address="192.168.0.200",
|
||||
with_mobile_base=False,
|
||||
with_l_arm=False,
|
||||
with_r_arm=False,
|
||||
with_neck=False,
|
||||
with_antennas=False,
|
||||
)
|
||||
150
tests/teleoperators/test_reachy2_teleoperator.py
Normal file
150
tests/teleoperators/test_reachy2_teleoperator.py
Normal file
@@ -0,0 +1,150 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from unittest.mock import MagicMock, patch
|
||||
|
||||
import pytest
|
||||
|
||||
from lerobot.teleoperators.reachy2_teleoperator import (
|
||||
REACHY2_ANTENNAS_JOINTS,
|
||||
REACHY2_L_ARM_JOINTS,
|
||||
REACHY2_NECK_JOINTS,
|
||||
REACHY2_R_ARM_JOINTS,
|
||||
REACHY2_VEL,
|
||||
Reachy2Teleoperator,
|
||||
Reachy2TeleoperatorConfig,
|
||||
)
|
||||
|
||||
# {lerobot_keys: reachy2_sdk_keys}
|
||||
REACHY2_JOINTS = {
|
||||
**REACHY2_NECK_JOINTS,
|
||||
**REACHY2_ANTENNAS_JOINTS,
|
||||
**REACHY2_R_ARM_JOINTS,
|
||||
**REACHY2_L_ARM_JOINTS,
|
||||
}
|
||||
|
||||
PARAMS = [
|
||||
{}, # default config
|
||||
{"with_mobile_base": False},
|
||||
{"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
|
||||
{"with_r_arm": False, "with_neck": False, "with_antennas": False},
|
||||
{"with_mobile_base": False, "with_neck": False},
|
||||
{"use_present_position": True},
|
||||
]
|
||||
|
||||
|
||||
def _make_reachy2_sdk_mock():
|
||||
r = MagicMock(name="ReachySDKMock")
|
||||
r.is_connected.return_value = True
|
||||
|
||||
def _connect():
|
||||
r.is_connected.return_value = True
|
||||
|
||||
def _disconnect():
|
||||
r.is_connected.return_value = False
|
||||
|
||||
# Mock joints with some dummy positions
|
||||
joints = {
|
||||
k: MagicMock(
|
||||
present_position=float(i),
|
||||
goal_position=float(i) + 0.5,
|
||||
)
|
||||
for i, k in enumerate(REACHY2_JOINTS.values())
|
||||
}
|
||||
r.joints = joints
|
||||
|
||||
# Mock mobile base with some dummy odometry
|
||||
r.mobile_base = MagicMock()
|
||||
r.mobile_base.last_cmd_vel = {
|
||||
"vx": -0.2,
|
||||
"vy": 0.2,
|
||||
"vtheta": 11.0,
|
||||
}
|
||||
r.mobile_base.odometry = {
|
||||
"x": 1.0,
|
||||
"y": 2.0,
|
||||
"theta": 20.0,
|
||||
"vx": 0.1,
|
||||
"vy": -0.1,
|
||||
"vtheta": 8.0,
|
||||
}
|
||||
|
||||
r.connect = MagicMock(side_effect=_connect)
|
||||
r.disconnect = MagicMock(side_effect=_disconnect)
|
||||
|
||||
return r
|
||||
|
||||
|
||||
@pytest.fixture(params=PARAMS, ids=lambda p: "default" if not p else ",".join(p.keys()))
|
||||
def reachy2(request):
|
||||
with (
|
||||
patch(
|
||||
"lerobot.teleoperators.reachy2_teleoperator.reachy2_teleoperator.ReachySDK",
|
||||
side_effect=lambda *a, **k: _make_reachy2_sdk_mock(),
|
||||
),
|
||||
):
|
||||
overrides = request.param
|
||||
cfg = Reachy2TeleoperatorConfig(ip_address="192.168.0.200", **overrides)
|
||||
robot = Reachy2Teleoperator(cfg)
|
||||
yield robot
|
||||
if robot.is_connected:
|
||||
robot.disconnect()
|
||||
|
||||
|
||||
def test_connect_disconnect(reachy2):
|
||||
assert not reachy2.is_connected
|
||||
|
||||
reachy2.connect()
|
||||
assert reachy2.is_connected
|
||||
|
||||
reachy2.disconnect()
|
||||
assert not reachy2.is_connected
|
||||
|
||||
reachy2.reachy.disconnect.assert_called_once()
|
||||
|
||||
|
||||
def test_get_action(reachy2):
|
||||
reachy2.connect()
|
||||
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)
|
||||
assert set(action.keys()) == expected_keys
|
||||
|
||||
for motor in reachy2.joints_dict.keys():
|
||||
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():
|
||||
assert action[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
|
||||
else:
|
||||
for vel in REACHY2_VEL.keys():
|
||||
assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]
|
||||
|
||||
|
||||
def test_no_part_declared():
|
||||
with pytest.raises(ValueError):
|
||||
_ = Reachy2TeleoperatorConfig(
|
||||
ip_address="192.168.0.200",
|
||||
with_mobile_base=False,
|
||||
with_l_arm=False,
|
||||
with_r_arm=False,
|
||||
with_neck=False,
|
||||
with_antennas=False,
|
||||
)
|
||||
Reference in New Issue
Block a user