chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
55 lines
2.3 KiB
Python
55 lines
2.3 KiB
Python
"""Run the installed upstream's pure methods, without constructing a hardware robot."""
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import ast
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import importlib.metadata
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import json
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import unittest
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from pathlib import Path
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from typing import Any
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import numpy as np
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class UpstreamKinematicsTests(unittest.TestCase):
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def test_actual_061_methods_match_shared_wheel_fixture(self):
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self.assertEqual(importlib.metadata.version("lerobot"), "0.6.1")
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path = importlib.metadata.distribution("lerobot").locate_file(
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"lerobot/robots/lekiwi/lekiwi.py"
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)
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tree = ast.parse(path.read_text())
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robot = next(
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node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == "LeKiwi"
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)
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names = {"_degps_to_raw", "_raw_to_degps", "_body_to_wheel_raw", "_wheel_raw_to_body"}
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methods = [
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node for node in robot.body if isinstance(node, ast.FunctionDef) and node.name in names
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]
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self.assertEqual({node.name for node in methods}, names)
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# Only the four audited numeric methods. No imports, constructors, buses or cameras.
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cls = ast.ClassDef(
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name="PureKinematics",
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bases=[],
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keywords=[],
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body=methods,
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decorator_list=[],
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type_params=[],
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)
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namespace = {"np": np, "Any": Any}
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module = ast.fix_missing_locations(ast.Module(body=[cls], type_ignores=[]))
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exec(compile(module, str(path), "exec"), namespace)
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pure = namespace["PureKinematics"]()
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fixture = json.loads(
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(
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Path(__file__).resolve().parents[3] / "contracts/fixtures/lekiwi-kinematics.json"
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).read_text()
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)
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for case in fixture["cases"]:
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with self.subTest(body=case["body"]):
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raw = pure._body_to_wheel_raw(*case["body"])
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self.assertEqual(list(raw), fixture["wheelOrder"])
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self.assertEqual(list(raw.values()), case["wheelRaw"])
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if max(abs(v) for v in case["wheelRaw"]) < 3000:
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body = pure._wheel_raw_to_body(*case["wheelRaw"])
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for observed, expected in zip(body.values(), case["body"], strict=True):
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self.assertAlmostEqual(observed, expected, delta=0.02)
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