File size: 4,558 Bytes
f4a62da |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 |
#!/usr/bin/env python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from unittest.mock import MagicMock, patch
import pytest
from lerobot.teleoperators.reachy2_teleoperator import (
REACHY2_ANTENNAS_JOINTS,
REACHY2_L_ARM_JOINTS,
REACHY2_NECK_JOINTS,
REACHY2_R_ARM_JOINTS,
REACHY2_VEL,
Reachy2Teleoperator,
Reachy2TeleoperatorConfig,
)
# {lerobot_keys: reachy2_sdk_keys}
REACHY2_JOINTS = {
**REACHY2_NECK_JOINTS,
**REACHY2_ANTENNAS_JOINTS,
**REACHY2_R_ARM_JOINTS,
**REACHY2_L_ARM_JOINTS,
}
PARAMS = [
{}, # default config
{"with_mobile_base": False},
{"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},
]
def _make_reachy2_sdk_mock():
r = MagicMock(name="ReachySDKMock")
r.is_connected.return_value = True
def _connect():
r.is_connected.return_value = True
def _disconnect():
r.is_connected.return_value = False
# Mock joints with some dummy positions
joints = {
k: MagicMock(
present_position=float(i),
goal_position=float(i) + 0.5,
)
for i, k in enumerate(REACHY2_JOINTS.values())
}
r.joints = joints
# Mock mobile base with some dummy odometry
r.mobile_base = MagicMock()
r.mobile_base.last_cmd_vel = {
"vx": -0.2,
"vy": 0.2,
"vtheta": 11.0,
}
r.mobile_base.odometry = {
"x": 1.0,
"y": 2.0,
"theta": 20.0,
"vx": 0.1,
"vy": -0.1,
"vtheta": 8.0,
}
r.connect = MagicMock(side_effect=_connect)
r.disconnect = MagicMock(side_effect=_disconnect)
return r
@pytest.fixture(params=PARAMS, ids=lambda p: "default" if not p else ",".join(p.keys()))
def reachy2(request):
with (
patch(
"lerobot.teleoperators.reachy2_teleoperator.reachy2_teleoperator.ReachySDK",
side_effect=lambda *a, **k: _make_reachy2_sdk_mock(),
),
):
overrides = request.param
cfg = Reachy2TeleoperatorConfig(ip_address="192.168.0.200", **overrides)
robot = Reachy2Teleoperator(cfg)
yield robot
if robot.is_connected:
robot.disconnect()
def test_connect_disconnect(reachy2):
assert not reachy2.is_connected
reachy2.connect()
assert reachy2.is_connected
reachy2.disconnect()
assert not reachy2.is_connected
reachy2.reachy.disconnect.assert_called_once()
def test_get_action(reachy2):
reachy2.connect()
action = reachy2.get_action()
expected_keys = set(reachy2.joints_dict)
expected_keys.update(f"{v}" for v in REACHY2_VEL if reachy2.config.with_mobile_base)
assert set(action.keys()) == expected_keys
for motor in reachy2.joints_dict:
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:
if reachy2.config.use_present_position:
for vel in REACHY2_VEL:
assert action[vel] == reachy2.reachy.mobile_base.odometry[REACHY2_VEL[vel]]
else:
for vel in REACHY2_VEL:
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,
)
|