Remove useless elements

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 = {
+            joint_action = {k: self.reachy.joints[v].goal_position for k, v in self.joints_dict.items()}
-                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 = {
+            vel_action = {k: self.reachy.mobile_base.last_cmd_vel[v] for k, v in REACHY2_VEL.items()}
-                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}

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:

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(
+    expected_keys.update(f"{v}" for v in REACHY2_VEL.keys() if reachy2.config.with_mobile_base)
-        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 (
+        assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
-            action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
-        )
     if reachy2.config.with_mobile_base:
         for vel in REACHY2_VEL.keys():
-            assert (
+            assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]
-                action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]
-            )