scripts/verify_sdk.py

"""Introspect the installed reachy-mini SDK to confirm the API we depend on.

Run with: pixi run verify-sdk
No robot connection is made — this only inspects classes/signatures so we can
lock down the exact calls before wiring up motion control.
"""

from __future__ import annotations

import inspect


def sig(obj, name: str) -> str:
    member = getattr(obj, name, None)
    if member is None:
        return f"  - {name}: MISSING"
    try:
        return f"  - {name}{inspect.signature(member)}"
    except (TypeError, ValueError):
        return f"  - {name}: <no signature> ({type(member).__name__})"


def main() -> None:
    import reachy_mini

    print("reachy_mini version:", getattr(reachy_mini, "__version__", "?"))
    print("reachy_mini file   :", reachy_mini.__file__)
    print("top-level exports  :", sorted(n for n in dir(reachy_mini) if not n.startswith("_")))

    print("\n== module-level helpers ==")
    for name in ("create_head_pose", "look_at", "look_at_image"):
        print(sig(reachy_mini, name))

    print("\n== ReachyMini ==")
    RM = getattr(reachy_mini, "ReachyMini", None)
    if RM is not None:
        try:
            print("  __init__", inspect.signature(RM.__init__))
        except (TypeError, ValueError):
            print("  __init__ <no signature>")
        methods = [n for n in dir(RM) if not n.startswith("_")]
        print("  members :", methods)
        for name in (
            "goto_target",
            "look_at_image",
            "look_at_world",
            "set_target",
            "get_frame",
        ):
            print(sig(RM, name))
        # media / camera accessors are usually instance attributes; report presence
        for attr in ("media", "camera"):
            print(f"  has class attr/property '{attr}':", hasattr(RM, attr))

    print("\n== ReachyMiniApp ==")
    App = getattr(reachy_mini, "ReachyMiniApp", None)
    if App is not None:
        print(sig(App, "run"))
        print("  members:", [n for n in dir(App) if not n.startswith("_")])
    else:
        print("  ReachyMiniApp NOT found at top level — searching submodules...")
        import pkgutil

        for m in pkgutil.iter_modules(reachy_mini.__path__, reachy_mini.__name__ + "."):
            print("   submodule:", m.name)


if __name__ == "__main__":
    main()