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Add use_present_position to teleoperator

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This commit is contained in:
glannuzel
2025-08-28 15:15:05 +02:00
parent b31b512954
commit f31acfd67f
3 changed files with 20 additions and 4 deletions
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tests/teleoperators/test_reachy2_teleoperator.py
+7 -2
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@@ -60,6 +60,7 @@ PARAMS = [
{"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},
]
@@ -76,7 +77,8 @@ def _make_reachy2_sdk_mock():
# Mock joints with some dummy positions
joints = {
k: MagicMock(
goal_position=float(i),
present_position=float(i),
goal_position=float(i) + 0.5,
)
for i, k in enumerate(REACHY2_JOINTS.values())
}
@@ -133,7 +135,10 @@ def test_get_action(reachy2):
assert set(action.keys()) == expected_keys
for motor in reachy2.joints_dict.keys():
assert action[motor] == reachy2.reachy.joints[REACHY2_JOINTS[motor]].goal_position
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:
for vel in REACHY2_VEL.keys():
assert action[vel] == reachy2.reachy.mobile_base.last_cmd_vel[REACHY2_VEL[vel]]