Add Wall-X serving and Turtle2 TCP WebSocket bridge

2026-09-23 21:04:17 +08:00
parent 6764e8f12f
commit d1cc7d96ad
40 changed files with 8591 additions and 40 deletions
@@ -0,0 +1,29 @@
+"""Online robot preprocessing checks shared by Turtle serving."""
+
+from types import SimpleNamespace
+
+import numpy as np
+
+from wall_x._vendor.harrix.serving._wallx_infer.robot import Robot
+
+
+def test_dof_mask_disables_virtual_action_padding():
+    wrapper = SimpleNamespace(
+        config=SimpleNamespace(
+            action_horizon=10,
+            train_config={
+                "dof_config": {
+                    "master_right_ee_cartesian_pos": 3,
+                    "master_right_ee_rotation": 3,
+                    "master_right_gripper": 1,
+                    "action_padding": 19,
+                }
+            },
+        )
+    )
+
+    mask = Robot._get_dof_mask(wrapper)
+
+    assert mask.shape == (1, 10, 26)
+    np.testing.assert_array_equal(mask[:, :, :7], 1)
+    np.testing.assert_array_equal(mask[:, :, 7:], 0)