Remove obsolete test
This commit is contained in:
Simon Alibert
parent
74d56834af
commit
34cd1e47bf
|
|
@ -1,123 +0,0 @@
|
||||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
"""
|
|
||||||
Tests for physical motors and their mocked versions.
|
|
||||||
If the physical motors are not connected to the computer, or not working,
|
|
||||||
the test will be skipped.
|
|
||||||
|
|
||||||
Example of running a specific test:
|
|
||||||
```bash
|
|
||||||
pytest -sx tests/test_motors.py::test_find_port
|
|
||||||
pytest -sx tests/test_motors.py::test_motors_bus
|
|
||||||
```
|
|
||||||
|
|
||||||
Example of running test on real dynamixel motors connected to the computer:
|
|
||||||
```bash
|
|
||||||
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-False]'
|
|
||||||
```
|
|
||||||
|
|
||||||
Example of running test on a mocked version of dynamixel motors:
|
|
||||||
```bash
|
|
||||||
pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]'
|
|
||||||
```
|
|
||||||
"""
|
|
||||||
|
|
||||||
# TODO(rcadene): measure fps in nightly?
|
|
||||||
# TODO(rcadene): test logs
|
|
||||||
# TODO(rcadene): test calibration
|
|
||||||
# TODO(rcadene): add compatibility with other motors bus
|
|
||||||
|
|
||||||
import time
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
import pytest
|
|
||||||
|
|
||||||
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
|
|
||||||
from lerobot.scripts.find_motors_bus_port import find_port
|
|
||||||
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
|
|
||||||
@require_motor
|
|
||||||
def test_find_port(request, motor_type, mock):
|
|
||||||
if mock:
|
|
||||||
request.getfixturevalue("patch_builtins_input")
|
|
||||||
with pytest.raises(OSError):
|
|
||||||
find_port()
|
|
||||||
else:
|
|
||||||
find_port()
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
|
|
||||||
@require_motor
|
|
||||||
def test_motors_bus(request, motor_type, mock):
|
|
||||||
if mock:
|
|
||||||
request.getfixturevalue("patch_builtins_input")
|
|
||||||
|
|
||||||
motors_bus = make_motors_bus(motor_type, mock=mock)
|
|
||||||
|
|
||||||
# Test reading and writing before connecting raises an error
|
|
||||||
with pytest.raises(DeviceNotConnectedError):
|
|
||||||
motors_bus.read("Torque_Enable")
|
|
||||||
with pytest.raises(DeviceNotConnectedError):
|
|
||||||
motors_bus.write("Torque_Enable", 1)
|
|
||||||
with pytest.raises(DeviceNotConnectedError):
|
|
||||||
motors_bus.disconnect()
|
|
||||||
|
|
||||||
# Test deleting the object without connecting first
|
|
||||||
del motors_bus
|
|
||||||
|
|
||||||
# Test connecting
|
|
||||||
motors_bus = make_motors_bus(motor_type, mock=mock)
|
|
||||||
motors_bus.connect()
|
|
||||||
|
|
||||||
# Test connecting twice raises an error
|
|
||||||
with pytest.raises(DeviceAlreadyConnectedError):
|
|
||||||
motors_bus.connect()
|
|
||||||
|
|
||||||
# Test disabling torque and reading torque on all motors
|
|
||||||
motors_bus.write("Torque_Enable", 0)
|
|
||||||
values = motors_bus.read("Torque_Enable")
|
|
||||||
assert isinstance(values, np.ndarray)
|
|
||||||
assert len(values) == len(motors_bus.motors)
|
|
||||||
assert (values == 0).all()
|
|
||||||
|
|
||||||
# Test writing torque on a specific motor
|
|
||||||
motors_bus.write("Torque_Enable", 1, "gripper")
|
|
||||||
|
|
||||||
# Test reading torque from this specific motor. It is now 1
|
|
||||||
values = motors_bus.read("Torque_Enable", "gripper")
|
|
||||||
assert len(values) == 1
|
|
||||||
assert values[0] == 1
|
|
||||||
|
|
||||||
# Test reading torque from all motors. It is 1 for the specific motor,
|
|
||||||
# and 0 on the others.
|
|
||||||
values = motors_bus.read("Torque_Enable")
|
|
||||||
gripper_index = motors_bus.motor_names.index("gripper")
|
|
||||||
assert values[gripper_index] == 1
|
|
||||||
assert values.sum() == 1 # gripper is the only motor to have torque 1
|
|
||||||
|
|
||||||
# Test writing torque on all motors and it is 1 for all.
|
|
||||||
motors_bus.write("Torque_Enable", 1)
|
|
||||||
values = motors_bus.read("Torque_Enable")
|
|
||||||
assert (values == 1).all()
|
|
||||||
|
|
||||||
# Test ordering the motors to move slightly (+1 value among 4096) and this move
|
|
||||||
# can be executed and seen by the motor position sensor
|
|
||||||
values = motors_bus.read("Present_Position")
|
|
||||||
motors_bus.write("Goal_Position", values + 1)
|
|
||||||
# Give time for the motors to move to the goal position
|
|
||||||
time.sleep(1)
|
|
||||||
new_values = motors_bus.read("Present_Position")
|
|
||||||
assert (new_values == values).all()
|
|
||||||
Loading…
Reference in New Issue