id -1 on goto_singlejoint if part is off

src/reachy2_sdk/orbita/orbita.py

@@ -192,6 +192,14 @@ def is_on(self) -> bool:
         """
         return not self._compliant
 
+    def is_off(self) -> bool:
+        """Check if the actuator is currently compliant.
+
+        Returns:
+            `True` if the actuator is compliant (not stiff), `False` otherwise.
+        """
+        return self._compliant
+
     @property
     def temperatures(self) -> Dict[str, float]:
         """Get the current temperatures of all the motors in the actuator.

src/reachy2_sdk/orbita/orbita_joint.py

@@ -108,6 +108,10 @@ def goto(
         Returns:
             The GoToId associated with the movement command.
         """
+        if self._actuator._part.is_off():
+            self._actuator._logger.warning(f"{self._actuator._part._part_id.name} is off. No command sent.")
+            return GoToId(id=-1)
+
         return self._actuator._part._goto_single_joint(
             self._position_order_in_part,
             goal_position=goal_position,

src/reachy2_sdk/parts/head.py

@@ -314,7 +314,7 @@ def look_at(
         """
         if duration == 0:
             raise ValueError("duration cannot be set to 0.")
-        if not self.neck.is_on():
+        if self.neck.is_off():
             self._logger.warning("head.neck is off. No command sent.")
             return GoToId(id=-1)
 

tests/units/online/test_advanced_goto_functions.py

@@ -574,6 +574,11 @@ def test_single_joint_goto(reachy_sdk_zeroed: ReachySDK) -> None:
 
     assert np.allclose(reachy_sdk_zeroed.head.get_current_positions(), [15, 0, 10], atol=1e-01)
 
+    reachy_sdk_zeroed.turn_off()
+    assert reachy_sdk_zeroed.l_arm.shoulder.roll.goto(10).id == -1
+    assert reachy_sdk_zeroed.head.neck.roll.goto(10).id == -1
+    reachy_sdk_zeroed.turn_on()
+
 
 @pytest.mark.online
 def test_get_translation_by(reachy_sdk_zeroed: ReachySDK) -> None: