From 67843db756f6d3d0402279100075f53b238ce190 Mon Sep 17 00:00:00 2001
From: glannuzel <gaelle.lannuzel@gmail.com>
Date: Thu, 28 Aug 2025 17:44:23 +0200
Subject: [PATCH] Add check no part + test

---
 .../robots/reachy2/configuration_reachy2.py   | 26 ++++++++++++++++---
 .../config_reachy2_teleoperator.py            | 14 ++++++++++
 tests/robots/test_reachy2.py                  | 12 +++++++++
 .../test_reachy2_teleoperator.py              | 12 +++++++++
 4 files changed, 61 insertions(+), 3 deletions(-)

diff --git a/src/lerobot/robots/reachy2/configuration_reachy2.py b/src/lerobot/robots/reachy2/configuration_reachy2.py
index 432e48144..f43fb203e 100644
--- a/src/lerobot/robots/reachy2/configuration_reachy2.py
+++ b/src/lerobot/robots/reachy2/configuration_reachy2.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 
 from lerobot.cameras import CameraConfig
 from lerobot.cameras.configs import ColorMode
@@ -28,11 +28,17 @@ class Reachy2RobotConfig(RobotConfig):
     # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
     # the number of motors in your follower arms.
     max_relative_target: int | None = None
+
+    # IP address of the Reachy 2 robot
     ip_address: str | None = "localhost"
 
+    # If True, turn_off_smoothly() will be sent to the robot before disconnecting.
+    disable_torque_on_disconnect: bool = True
+
     # Tag for external commands control
     # Set to True if you use an external commands system to control the robot,
     # such as the official teleoperation application: https://github.com/pollen-robotics/Reachy2Teleoperation
+    # If True, robot.send_action() will not send commands to the robot.
     use_external_commands: bool = False
 
     # Robot parts
@@ -51,9 +57,10 @@ class Reachy2RobotConfig(RobotConfig):
     with_right_teleop_camera: bool = True
     with_torso_camera: bool = False
 
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
     def __post_init__(self) -> None:
-        # Add cameras
-        self.cameras: dict[str, CameraConfig] = {}
+        # Add cameras with same ip_address as the robot
         if self.with_left_teleop_camera:
             self.cameras["teleop_left"] = Reachy2CameraConfig(
                 name="teleop",
@@ -86,3 +93,16 @@ class Reachy2RobotConfig(RobotConfig):
             )
 
         super().__post_init__()
+
+        if not (
+            self.with_mobile_base
+            or self.with_l_arm
+            or self.with_r_arm
+            or self.with_neck
+            or self.with_antennas
+        ):
+            raise ValueError(
+                "No Reachy2Robot part used.\n"
+                "At least one part of the robot must be set to True "
+                "(with_mobile_base, with_l_arm, with_r_arm, with_neck, with_antennas)"
+            )
diff --git a/src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py b/src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py
index 4e1496a3c..4e615d363 100644
--- a/src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py
+++ b/src/lerobot/teleoperators/reachy2_teleoperator/config_reachy2_teleoperator.py
@@ -35,3 +35,17 @@ class Reachy2TeleoperatorConfig(TeleoperatorConfig):
     with_r_arm: bool = True
     with_neck: bool = True
     with_antennas: bool = True
+
+    def __post_init__(self):
+        if not (
+            self.with_mobile_base
+            or self.with_l_arm
+            or self.with_r_arm
+            or self.with_neck
+            or self.with_antennas
+        ):
+            raise ValueError(
+                "No Reachy2Teleoperator part used.\n"
+                "At least one part of the robot must be set to True "
+                "(with_mobile_base, with_l_arm, with_r_arm, with_neck, with_antennas)"
+            )
diff --git a/tests/robots/test_reachy2.py b/tests/robots/test_reachy2.py
index 9d6df77ab..121f7edcc 100644
--- a/tests/robots/test_reachy2.py
+++ b/tests/robots/test_reachy2.py
@@ -316,3 +316,15 @@ def test_send_action(reachy2):
         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,
+        )
diff --git a/tests/teleoperators/test_reachy2_teleoperator.py b/tests/teleoperators/test_reachy2_teleoperator.py
index 6fe5bda0f..98abdf480 100644
--- a/tests/teleoperators/test_reachy2_teleoperator.py
+++ b/tests/teleoperators/test_reachy2_teleoperator.py
@@ -142,3 +142,15 @@ def test_get_action(reachy2):
     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]]
+
+
+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,
+        )