From 3225aeb287b55e40a96c27d55052b22126f42278 Mon Sep 17 00:00:00 2001 From: glannuzel Date: Wed, 27 Aug 2025 12:13:53 +0200 Subject: [PATCH] Remove useless elements --- .../reachy2_teleoperator.py | 10 ++----- tests/robots/test_reachy2.py | 2 -- .../test_reachy2_teleoperator.py | 27 +++---------------- 3 files changed, 5 insertions(+), 34 deletions(-) diff --git a/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py b/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py index 0705d601b..b22839fb5 100644 --- a/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py +++ b/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py @@ -142,18 +142,12 @@ class Reachy2Teleoperator(Teleoperator): start = time.perf_counter() if self.reachy and self.is_connected: - joint_action = { - k: self.reachy.joints[v].goal_position - for k, v in self.joints_dict.items() - } + joint_action = {k: self.reachy.joints[v].goal_position for k, v in self.joints_dict.items()} if not self.config.with_mobile_base: dt_ms = (time.perf_counter() - start) * 1e3 logger.debug(f"{self} read action: {dt_ms:.1f}ms") return joint_action - vel_action = { - k: self.reachy.mobile_base.last_cmd_vel[v] - for k, v in REACHY2_VEL.items() - } + vel_action = {k: self.reachy.mobile_base.last_cmd_vel[v] for k, v in REACHY2_VEL.items()} dt_ms = (time.perf_counter() - start) * 1e3 logger.debug(f"{self} read action: {dt_ms:.1f}ms") return {**joint_action, **vel_action} diff --git a/tests/robots/test_reachy2.py b/tests/robots/test_reachy2.py index d7ab69878..fe81b7c40 100644 --- a/tests/robots/test_reachy2.py +++ b/tests/robots/test_reachy2.py @@ -196,8 +196,6 @@ def test_get_observation(reachy2): expected_keys.update(reachy2.cameras.keys()) assert set(obs.keys()) == expected_keys - print(obs) - for motor in reachy2.joints_dict.keys(): assert obs[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position if reachy2.config.with_mobile_base: diff --git a/tests/teleoperators/test_reachy2_teleoperator.py b/tests/teleoperators/test_reachy2_teleoperator.py index 286a62e2e..6f64efc2d 100644 --- a/tests/teleoperators/test_reachy2_teleoperator.py +++ b/tests/teleoperators/test_reachy2_teleoperator.py @@ -16,7 +16,6 @@ from unittest.mock import MagicMock, patch -import numpy as np import pytest from lerobot.teleoperators.reachy2_teleoperator import ( @@ -74,12 +73,6 @@ def _make_reachy2_sdk_mock(): def _disconnect(): r.is_connected.return_value = False - # Global counter of goal_position sets - r._goal_position_set_total = 0 - - def _on_any_goal_set(): - r._goal_position_set_total += 1 - # Mock joints with some dummy positions joints = { k: MagicMock( @@ -100,14 +93,6 @@ def _make_reachy2_sdk_mock(): r.connect = MagicMock(side_effect=_connect) r.disconnect = MagicMock(side_effect=_disconnect) - # Mock methods - r.turn_on = MagicMock() - r.reset_default_limits = MagicMock() - r.send_goal_positions = MagicMock() - r.turn_off_smoothly = MagicMock() - r.mobile_base.set_goal_speed = MagicMock() - r.mobile_base.send_speed_command = MagicMock() - return r @@ -144,17 +129,11 @@ 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.keys() if reachy2.config.with_mobile_base) assert set(action.keys()) == expected_keys for motor in reachy2.joints_dict.keys(): - assert ( - action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position - ) + assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position if reachy2.config.with_mobile_base: for vel in REACHY2_VEL.keys(): - assert ( - action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]] - ) + assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]