133 lines
4.4 KiB
Python
133 lines
4.4 KiB
Python
"""
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Tests for physical motors and their mocked versions.
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If the physical motors are not connected to the computer, or not working,
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the test will be skipped.
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Example of running a specific test:
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```bash
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pytest -sx tests/test_motors.py::test_find_port
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pytest -sx tests/test_motors.py::test_motors_bus
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```
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Example of running test on real dynamixel motors connected to the computer:
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```bash
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pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-False]'
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```
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Example of running test on a mocked version of dynamixel motors:
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```bash
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pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]'
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```
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"""
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# TODO(rcadene): measure fps in nightly?
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# TODO(rcadene): test logs
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# TODO(rcadene): test calibration
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# TODO(rcadene): add compatibility with other motors bus
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import time
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import numpy as np
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import pytest
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from lerobot.common.robot_devices.motors.dynamixel import find_port
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from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
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from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
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@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
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@require_motor
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def test_find_port(request, motor_type, mock):
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if mock:
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request.getfixturevalue("patch_builtins_input")
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with pytest.raises(OSError):
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find_port()
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else:
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find_port()
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@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
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@require_motor
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def test_configure_motors_all_ids_1(request, motor_type, mock):
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if mock:
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request.getfixturevalue("patch_builtins_input")
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input("Are you sure you want to re-configure the motors? Press enter to continue...")
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# This test expect the configuration was already correct.
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motors_bus = make_motors_bus(motor_type, mock=mock)
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motors_bus.connect()
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motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
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motors_bus.set_bus_baudrate(9_600)
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motors_bus.write("ID", [1] * len(motors_bus.motors))
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del motors_bus
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# Test configure
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motors_bus = make_motors_bus(motor_type, mock=mock)
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motors_bus.connect()
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assert motors_bus.are_motors_configured()
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del motors_bus
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@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
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@require_motor
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def test_motors_bus(request, motor_type, mock):
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if mock:
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request.getfixturevalue("patch_builtins_input")
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motors_bus = make_motors_bus(motor_type, mock=mock)
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# Test reading and writting before connecting raises an error
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with pytest.raises(RobotDeviceNotConnectedError):
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motors_bus.read("Torque_Enable")
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with pytest.raises(RobotDeviceNotConnectedError):
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motors_bus.write("Torque_Enable", 1)
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with pytest.raises(RobotDeviceNotConnectedError):
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motors_bus.disconnect()
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# Test deleting the object without connecting first
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del motors_bus
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# Test connecting
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motors_bus = make_motors_bus(motor_type, mock=mock)
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motors_bus.connect()
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# Test connecting twice raises an error
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with pytest.raises(RobotDeviceAlreadyConnectedError):
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motors_bus.connect()
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# Test disabling torque and reading torque on all motors
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motors_bus.write("Torque_Enable", 0)
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values = motors_bus.read("Torque_Enable")
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assert isinstance(values, np.ndarray)
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assert len(values) == len(motors_bus.motors)
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assert (values == 0).all()
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# Test writing torque on a specific motor
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motors_bus.write("Torque_Enable", 1, "gripper")
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# Test reading torque from this specific motor. It is now 1
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values = motors_bus.read("Torque_Enable", "gripper")
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assert len(values) == 1
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assert values[0] == 1
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# Test reading torque from all motors. It is 1 for the specific motor,
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# and 0 on the others.
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values = motors_bus.read("Torque_Enable")
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gripper_index = motors_bus.motor_names.index("gripper")
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assert values[gripper_index] == 1
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assert values.sum() == 1 # gripper is the only motor to have torque 1
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# Test writing torque on all motors and it is 1 for all.
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motors_bus.write("Torque_Enable", 1)
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values = motors_bus.read("Torque_Enable")
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assert (values == 1).all()
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# Test ordering the motors to move slightly (+1 value among 4096) and this move
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# can be executed and seen by the motor position sensor
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values = motors_bus.read("Present_Position")
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motors_bus.write("Goal_Position", values + 1)
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# Give time for the motors to move to the goal position
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time.sleep(1)
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new_values = motors_bus.read("Present_Position")
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assert (new_values == values).all()
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