Update send_action test

src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py

@@ -142,18 +142,12 @@ class Reachy2FakeTeleoperator(Teleoperator):
         start = time.perf_counter()
 
         if self.reachy and self.is_connected:
-            joint_action = {
+            joint_action = {k: self.reachy.joints_dict[v].goal_position for k, v in self.joints_dict.items()}
-                k: self.reachy.joints_dict[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

@@ -14,18 +14,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from contextlib import contextmanager
 from unittest.mock import MagicMock, patch
 
-import pytest
 import numpy as np
+import pytest
 
 from lerobot.robots.reachy2 import (
     Reachy2Robot,
     Reachy2RobotConfig,
 )
 
-
 # {lerobot_keys: reachy2_sdk_keys}
 REACHY2_JOINTS = {
     "neck_yaw.pos": "head.neck.yaw",
@@ -68,6 +66,30 @@ PARAMS = [
 
 
 def _make_reachy2_sdk_mock():
+    class JointSpy:
+        __slots__ = (
+            "present_position",
+            "_goal_position",
+            "set_calls",
+            "set_values",
+            "_on_set",
+        )
+
+        def __init__(self, present_position=0.0, initial_goal=None, on_set=None):
+            self.present_position = present_position
+            self._goal_position = initial_goal
+            self._on_set = on_set
+
+        @property
+        def goal_position(self):
+            return self._goal_position
+
+        @goal_position.setter
+        def goal_position(self, v):
+            self._goal_position = v
+            if self._on_set:
+                self._on_set()
+
     r = MagicMock(name="ReachySDKMock")
     r.is_connected.return_value = True
 
@@ -77,9 +99,19 @@ 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(present_position=i, goal_position=i + 0.1)
+        k: JointSpy(
+            present_position=float(i),
+            initial_goal=float(i) + 0.1,
+            on_set=_on_any_goal_set,
+        )
         for i, k in enumerate(REACHY2_JOINTS.values())
     }
     r.joints = joints
@@ -160,19 +192,15 @@ def test_get_observation(reachy2):
     reachy2.connect()
     obs = reachy2.get_observation()
 
-    expected_keys = {m for m in reachy2.joints_dict.keys()}
+    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
-    )
     expected_keys.update(reachy2.cameras.keys())
     assert set(obs.keys()) == expected_keys
 
     print(obs)
 
     for motor in reachy2.joints_dict.keys():
-        assert (
+        assert obs[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].present_position
-            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]]
@@ -189,6 +217,12 @@ def test_send_action(reachy2):
 
     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
+        assert real_pos == expected_pos
+
     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)