Update tutorial action switch frequency#345
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Update the create_robot and create_sensor tutorial scripts to use an explicit action switch interval and add a regression test for the shared cadence.
yuecideng
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Pull request overview
This PR updates the simulation tutorial loops in create_robot.py and create_sensor.py to use an explicit shared ACTION_SWITCH_INTERVAL (and a derived cycle length) instead of hard-coded modulo conditions, and adds a regression test intended to keep that interval consistent.
Changes:
- Introduces
ACTION_SWITCH_INTERVALandACTION_CYCLE_STEPS, and refactors loop conditionals to usecycle_step. - Adjusts the tutorials’ action switch cadence to a consistent interval-based schedule.
- Adds a test that parses the tutorial scripts to validate the expected interval constant.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| scripts/tutorials/sim/create_robot.py | Refactors action switching logic to use shared interval/cycle constants. |
| scripts/tutorials/sim/create_sensor.py | Refactors action switching logic to use shared interval/cycle constants (and triggers sensor capture on switches). |
| tests/sim/test_tutorial_action_switch_frequency.py | Adds a regression test for the tutorial action switch interval constant. |
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| CONTROL_PARTS = { | ||
| "arm": [ | ||
| "JOINT[1-6]", # Matches JOINT1, JOINT2, ..., JOINT6 | ||
| "joint[1-6]", # Matches JOINT1, JOINT2, ..., JOINT6 |
| CONTROL_PARTS = { | ||
| "arm": [ | ||
| "JOINT[1-6]", # Matches JOINT1, JOINT2, ..., JOINT6 | ||
| "joint[1-6]", # Matches JOINT1, JOINT2, ..., JOINT6 |
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| def test_create_robot_tutorial_uses_shared_action_switch_interval() -> None: | ||
| module = _parse_module("create_robot.py") | ||
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| assert ( | ||
| _find_constant_value(module, "ACTION_SWITCH_INTERVAL") | ||
| == EXPECTED_ACTION_SWITCH_INTERVAL | ||
| ) | ||
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| def test_create_sensor_tutorial_uses_shared_action_switch_interval() -> None: | ||
| module = _parse_module("create_sensor.py") | ||
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| assert ( | ||
| _find_constant_value(module, "ACTION_SWITCH_INTERVAL") | ||
| == EXPECTED_ACTION_SWITCH_INTERVAL | ||
| ) |
9 tasks
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Description
This PR updates the
scripts/tutorials/sim/create_robot.pyandscripts/tutorials/sim/create_sensor.pytutorials to use an explicit shared action-switch interval, instead of hard-coded modulo values in the simulation loop.It also adds a regression test to verify that both tutorial scripts keep the expected switch interval constant.
Dependencies: None.
Issue reference: None.
Type of change
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Checklist
black .command to format the code base.Verification
pytest tests/sim/test_tutorial_action_switch_frequency.py -v2 passed in 1.38s