125 lines
4.3 KiB
Python
125 lines
4.3 KiB
Python
"""
|
|
Tests meant to be used locally and launched manually.
|
|
|
|
Example usage:
|
|
```bash
|
|
pytest -sx tests/test_motors.py::test_find_port
|
|
pytest -sx tests/test_motors.py::test_motors_bus
|
|
```
|
|
"""
|
|
|
|
# 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 import available_robots
|
|
from lerobot.common.robot_devices.motors.utils import MotorsBus
|
|
from lerobot.common.robot_devices.robots.factory import make_robot
|
|
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
|
|
from lerobot.common.utils.utils import init_hydra_config
|
|
from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot
|
|
|
|
|
|
def make_motors_bus(robot_type: str) -> MotorsBus:
|
|
# Instantiate a robot and return one of its leader arms
|
|
config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
|
|
robot_cfg = init_hydra_config(config_path)
|
|
robot = make_robot(robot_cfg)
|
|
first_bus_name = list(robot.leader_arms.keys())[0]
|
|
motors_bus = robot.leader_arms[first_bus_name]
|
|
return motors_bus
|
|
|
|
|
|
@pytest.mark.parametrize("robot_type", available_robots)
|
|
@require_robot
|
|
def test_find_port(request, robot_type):
|
|
from lerobot.common.robot_devices.motors.dynamixel import find_port
|
|
|
|
find_port()
|
|
|
|
|
|
@pytest.mark.parametrize("robot_type", available_robots)
|
|
@require_robot
|
|
def test_configure_motors_all_ids_1(request, robot_type):
|
|
input("Are you sure you want to re-configure the motors? Press enter to continue...")
|
|
# This test expect the configuration was already correct.
|
|
motors_bus = make_motors_bus(robot_type)
|
|
motors_bus.connect()
|
|
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
|
|
motors_bus.set_bus_baudrate(9_600)
|
|
motors_bus.write("ID", [1] * len(motors_bus.motors))
|
|
del motors_bus
|
|
|
|
# Test configure
|
|
motors_bus = make_motors_bus(robot_type)
|
|
motors_bus.connect()
|
|
assert motors_bus.are_motors_configured()
|
|
del motors_bus
|
|
|
|
|
|
@pytest.mark.parametrize("robot_type", available_robots)
|
|
@require_robot
|
|
def test_motors_bus(request, robot_type):
|
|
motors_bus = make_motors_bus(robot_type)
|
|
|
|
# Test reading and writting before connecting raises an error
|
|
with pytest.raises(RobotDeviceNotConnectedError):
|
|
motors_bus.read("Torque_Enable")
|
|
with pytest.raises(RobotDeviceNotConnectedError):
|
|
motors_bus.write("Torque_Enable", 1)
|
|
with pytest.raises(RobotDeviceNotConnectedError):
|
|
motors_bus.disconnect()
|
|
|
|
# Test deleting the object without connecting first
|
|
del motors_bus
|
|
|
|
# Test connecting
|
|
motors_bus = make_motors_bus(robot_type)
|
|
motors_bus.connect()
|
|
|
|
# Test connecting twice raises an error
|
|
with pytest.raises(RobotDeviceAlreadyConnectedError):
|
|
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()
|