Merge pull request #522 from pollen-robotics/521-update-mobile_base-with-fake-mode

521 update mobile base with fake mode

Author: glannuzel

src/reachy2_sdk/parts/arm.py

@@ -1039,7 +1039,6 @@ def send_goal_positions(self, check_positions: bool = False) -> None:
         """
         super().send_goal_positions(check_positions)
         if self.gripper is not None:
-            print(f"gripper: {self.gripper._get_goal_positions_message()}")
             self.gripper.send_goal_positions(check_positions)
 
     def _update_with(self, new_state: ArmState) -> None:

src/reachy2_sdk/sensors/lidar.py

@@ -13,7 +13,6 @@
 from google.protobuf.wrappers_pb2 import BoolValue, FloatValue
 from reachy2_sdk_api.mobile_base_lidar_pb2 import (
     LidarObstacleDetectionEnum,
-    LidarObstacleDetectionStatus,
     LidarSafety,
 )
 from reachy2_sdk_api.mobile_base_lidar_pb2_grpc import MobileBaseLidarServiceStub
@@ -49,7 +48,7 @@ def get_map(self) -> Optional[npt.NDArray[np.uint8]]:
         """
         compressed_map = self._stub.GetLidarMap(self._part._part_id)
         if compressed_map.data == b"":
-            self._logger.error("No lidar map retrieved")
+            self._logger.error("No lidar map retrieved. (Note that the lidar map is not available in FAKE mode)")
             return None
         np_data = np.frombuffer(compressed_map.data, np.uint8)
         img = cv2.imdecode(np_data, cv2.IMREAD_COLOR)
@@ -135,7 +134,7 @@ def safety_enabled(self, value: bool) -> None:
         )
 
     @property
-    def obstacle_detection_status(self) -> LidarObstacleDetectionStatus:
+    def obstacle_detection_status(self) -> str:
         """Get the status of the lidar obstacle detection.
 
         Returns: