568 lines
18 KiB
Python
568 lines
18 KiB
Python
import sys
|
|
from typing import Generator
|
|
from unittest.mock import MagicMock, patch
|
|
|
|
import dynamixel_sdk as dxl
|
|
import pytest
|
|
|
|
from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
|
|
from lerobot.common.motors.dynamixel import MODEL_NUMBER, DynamixelMotorsBus
|
|
from lerobot.common.utils.encoding_utils import encode_twos_complement
|
|
from tests.mocks.mock_dynamixel import MockMotors, MockPortHandler
|
|
|
|
|
|
@pytest.fixture(autouse=True)
|
|
def patch_port_handler():
|
|
if sys.platform == "darwin":
|
|
with patch.object(dxl, "PortHandler", MockPortHandler):
|
|
yield
|
|
else:
|
|
yield
|
|
|
|
|
|
@pytest.fixture
|
|
def mock_motors() -> Generator[MockMotors, None, None]:
|
|
motors = MockMotors()
|
|
motors.open()
|
|
yield motors
|
|
motors.close()
|
|
|
|
|
|
@pytest.fixture
|
|
def dummy_motors() -> dict[str, Motor]:
|
|
return {
|
|
"dummy_1": Motor(1, "xl430-w250", MotorNormMode.RANGE_M100_100),
|
|
"dummy_2": Motor(2, "xm540-w270", MotorNormMode.RANGE_M100_100),
|
|
"dummy_3": Motor(3, "xl330-m077", MotorNormMode.RANGE_M100_100),
|
|
}
|
|
|
|
|
|
@pytest.fixture
|
|
def dummy_calibration(dummy_motors) -> dict[str, MotorCalibration]:
|
|
drive_modes = [0, 1, 0]
|
|
homings = [-709, -2006, 1624]
|
|
mins = [43, 27, 145]
|
|
maxes = [1335, 3608, 3999]
|
|
calibration = {}
|
|
for name, motor in dummy_motors.items():
|
|
calibration[name] = MotorCalibration(
|
|
id=motor.id,
|
|
drive_mode=drive_modes[motor.id - 1],
|
|
homing_offset=homings[motor.id - 1],
|
|
range_min=mins[motor.id - 1],
|
|
range_max=maxes[motor.id - 1],
|
|
)
|
|
return calibration
|
|
|
|
|
|
@pytest.mark.skipif(sys.platform != "darwin", reason=f"No patching needed on {sys.platform=}")
|
|
def test_autouse_patch():
|
|
"""Ensures that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
|
|
assert dxl.PortHandler is MockPortHandler
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"value, n_bytes, expected",
|
|
[
|
|
(0x12, 1, [0x12]),
|
|
(0x1234, 2, [0x34, 0x12]),
|
|
(0x12345678, 4, [0x78, 0x56, 0x34, 0x12]),
|
|
(0, 1, [0x00]),
|
|
(0, 2, [0x00, 0x00]),
|
|
(0, 4, [0x00, 0x00, 0x00, 0x00]),
|
|
(255, 1, [0xFF]),
|
|
(65535, 2, [0xFF, 0xFF]),
|
|
(4294967295, 4, [0xFF, 0xFF, 0xFF, 0xFF]),
|
|
],
|
|
ids=[
|
|
"1 byte",
|
|
"2 bytes",
|
|
"4 bytes",
|
|
"0 with 1 byte",
|
|
"0 with 2 bytes",
|
|
"0 with 4 bytes",
|
|
"max single byte",
|
|
"max two bytes",
|
|
"max four bytes",
|
|
],
|
|
) # fmt: skip
|
|
def test_split_int_to_bytes(value, n_bytes, expected):
|
|
assert DynamixelMotorsBus._split_int_to_bytes(value, n_bytes) == expected
|
|
|
|
|
|
def test_split_int_to_bytes_invalid_n_bytes():
|
|
with pytest.raises(NotImplementedError):
|
|
DynamixelMotorsBus._split_int_to_bytes(100, 3)
|
|
|
|
|
|
def test_split_int_to_bytes_negative_numbers():
|
|
with pytest.raises(ValueError):
|
|
neg = DynamixelMotorsBus._split_int_to_bytes(-1, 1)
|
|
print(neg)
|
|
|
|
|
|
def test_split_int_to_bytes_large_number():
|
|
with pytest.raises(ValueError):
|
|
DynamixelMotorsBus._split_int_to_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
|
|
|
|
|
|
def test_abc_implementation(dummy_motors):
|
|
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
|
|
DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
|
|
|
|
|
|
@pytest.mark.parametrize("id_", [1, 2, 3])
|
|
def test_ping(id_, mock_motors, dummy_motors):
|
|
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]
|
|
stub_name = mock_motors.build_ping_stub(id_, expected_model_nb)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
ping_model_nb = motors_bus.ping(id_)
|
|
|
|
assert ping_model_nb == expected_model_nb
|
|
assert mock_motors.stubs[stub_name].called
|
|
|
|
|
|
def test_broadcast_ping(mock_motors, dummy_motors):
|
|
models = {m.id: m.model for m in dummy_motors.values()}
|
|
expected_model_nbs = {id_: MODEL_NUMBER[model] for id_, model in models.items()}
|
|
stub_name = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
ping_model_nbs = motors_bus.broadcast_ping()
|
|
|
|
assert ping_model_nbs == expected_model_nbs
|
|
assert mock_motors.stubs[stub_name].called
|
|
|
|
|
|
def test_sync_read_none(mock_motors, dummy_motors):
|
|
expected_positions = {
|
|
"dummy_1": 1337,
|
|
"dummy_2": 42,
|
|
"dummy_3": 4016,
|
|
}
|
|
ids_values = dict(zip([1, 2, 3], expected_positions.values(), strict=True))
|
|
stub_name = mock_motors.build_sync_read_stub("Present_Position", ids_values)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
read_positions = motors_bus.sync_read("Present_Position", normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
assert read_positions == expected_positions
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"id_, position",
|
|
[
|
|
(1, 1337),
|
|
(2, 42),
|
|
(3, 4016),
|
|
],
|
|
)
|
|
def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
|
|
expected_position = {id_: position}
|
|
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
read_position = motors_bus.sync_read("Present_Position", id_, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
assert read_position == expected_position
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"ids, positions",
|
|
[
|
|
([1], [1337]),
|
|
([1, 2], [1337, 42]),
|
|
([1, 2, 3], [1337, 42, 4016]),
|
|
],
|
|
ids=["1 motor", "2 motors", "3 motors"],
|
|
) # fmt: skip
|
|
def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
|
|
assert len(ids) == len(positions)
|
|
expected_positions = dict(zip(ids, positions, strict=True))
|
|
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_positions)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
read_positions = motors_bus.sync_read("Present_Position", ids, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
assert read_positions == expected_positions
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"id_, position",
|
|
[
|
|
(1, 1337),
|
|
(2, 42),
|
|
(3, 4016),
|
|
],
|
|
)
|
|
def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
|
|
expected_position = {f"dummy_{id_}": position}
|
|
stub_name = mock_motors.build_sync_read_stub("Present_Position", {id_: position})
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}", normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
assert read_position == expected_position
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"ids, positions",
|
|
[
|
|
([1], [1337]),
|
|
([1, 2], [1337, 42]),
|
|
([1, 2, 3], [1337, 42, 4016]),
|
|
],
|
|
ids=["1 motor", "2 motors", "3 motors"],
|
|
) # fmt: skip
|
|
def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
|
|
assert len(ids) == len(positions)
|
|
names = [f"dummy_{dxl_id}" for dxl_id in ids]
|
|
expected_positions = dict(zip(names, positions, strict=True))
|
|
ids_values = dict(zip(ids, positions, strict=True))
|
|
stub_name = mock_motors.build_sync_read_stub("Present_Position", ids_values)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
read_positions = motors_bus.sync_read("Present_Position", names, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
assert read_positions == expected_positions
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"num_retry, num_invalid_try, pos",
|
|
[
|
|
(0, 2, 1337),
|
|
(2, 3, 42),
|
|
(3, 2, 4016),
|
|
(2, 1, 999),
|
|
],
|
|
)
|
|
def test_sync_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_motors):
|
|
expected_position = {1: pos}
|
|
stub_name = mock_motors.build_sync_read_stub(
|
|
"Present_Position", expected_position, num_invalid_try=num_invalid_try
|
|
)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
if num_retry >= num_invalid_try:
|
|
pos_dict = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
|
|
assert pos_dict == {1: pos}
|
|
else:
|
|
with pytest.raises(ConnectionError):
|
|
_ = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
|
|
|
|
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
|
|
assert mock_motors.stubs[stub_name].calls == expected_calls
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"data_name, value",
|
|
[
|
|
("Torque_Enable", 0),
|
|
("Torque_Enable", 1),
|
|
("Goal_Position", 1337),
|
|
("Goal_Position", 42),
|
|
],
|
|
)
|
|
def test_sync_write_single_value(data_name, value, mock_motors, dummy_motors):
|
|
ids_values = {m.id: value for m in dummy_motors.values()}
|
|
stub_name = mock_motors.build_sync_write_stub(data_name, ids_values)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.sync_write(data_name, value, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].wait_called()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"id_, position",
|
|
[
|
|
(1, 1337),
|
|
(2, 42),
|
|
(3, 4016),
|
|
],
|
|
)
|
|
def test_sync_write_by_id(id_, position, mock_motors, dummy_motors):
|
|
value = {id_: position}
|
|
stub_name = mock_motors.build_sync_write_stub("Goal_Position", value)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.sync_write("Goal_Position", value, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].wait_called()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"ids, positions",
|
|
[
|
|
([1], [1337]),
|
|
([1, 2], [1337, 42]),
|
|
([1, 2, 3], [1337, 42, 4016]),
|
|
],
|
|
ids=["1 motor", "2 motors", "3 motors"],
|
|
) # fmt: skip
|
|
def test_sync_write_by_ids(ids, positions, mock_motors, dummy_motors):
|
|
assert len(ids) == len(positions)
|
|
values = dict(zip(ids, positions, strict=True))
|
|
stub_name = mock_motors.build_sync_write_stub("Goal_Position", values)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.sync_write("Goal_Position", values, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].wait_called()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"id_, position",
|
|
[
|
|
(1, 1337),
|
|
(2, 42),
|
|
(3, 4016),
|
|
],
|
|
)
|
|
def test_sync_write_by_name(id_, position, mock_motors, dummy_motors):
|
|
id_value = {id_: position}
|
|
stub_name = mock_motors.build_sync_write_stub("Goal_Position", id_value)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
write_value = {f"dummy_{id_}": position}
|
|
motors_bus.sync_write("Goal_Position", write_value, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].wait_called()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"ids, positions",
|
|
[
|
|
([1], [1337]),
|
|
([1, 2], [1337, 42]),
|
|
([1, 2, 3], [1337, 42, 4016]),
|
|
],
|
|
ids=["1 motor", "2 motors", "3 motors"],
|
|
) # fmt: skip
|
|
def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
|
|
assert len(ids) == len(positions)
|
|
ids_values = dict(zip(ids, positions, strict=True))
|
|
stub_name = mock_motors.build_sync_write_stub("Goal_Position", ids_values)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
write_values = {f"dummy_{id_}": pos for id_, pos in ids_values.items()}
|
|
motors_bus.sync_write("Goal_Position", write_values, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].wait_called()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"data_name, dxl_id, value",
|
|
[
|
|
("Torque_Enable", 1, 0),
|
|
("Torque_Enable", 1, 1),
|
|
("Goal_Position", 2, 1337),
|
|
("Goal_Position", 3, 42),
|
|
],
|
|
)
|
|
def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
|
|
stub_name = mock_motors.build_write_stub(data_name, dxl_id, value)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.write(data_name, dxl_id, value, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"data_name, dxl_id, value",
|
|
[
|
|
("Torque_Enable", 1, 0),
|
|
("Torque_Enable", 1, 1),
|
|
("Goal_Position", 2, 1337),
|
|
("Goal_Position", 3, 42),
|
|
],
|
|
)
|
|
def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
|
|
stub_name = mock_motors.build_write_stub(data_name, dxl_id, value)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.write(data_name, f"dummy_{dxl_id}", value, normalize=False)
|
|
|
|
assert mock_motors.stubs[stub_name].called
|
|
|
|
|
|
def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
|
|
drive_modes = {m.id: m.drive_mode for m in dummy_calibration.values()}
|
|
encoded_homings = {m.id: encode_twos_complement(m.homing_offset, 4) for m in dummy_calibration.values()}
|
|
mins = {m.id: m.range_min for m in dummy_calibration.values()}
|
|
maxes = {m.id: m.range_max for m in dummy_calibration.values()}
|
|
drive_modes_stub = mock_motors.build_sync_read_stub("Drive_Mode", drive_modes)
|
|
offsets_stub = mock_motors.build_sync_read_stub("Homing_Offset", encoded_homings)
|
|
mins_stub = mock_motors.build_sync_read_stub("Min_Position_Limit", mins)
|
|
maxes_stub = mock_motors.build_sync_read_stub("Max_Position_Limit", maxes)
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
calibration=dummy_calibration,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
is_calibrated = motors_bus.is_calibrated
|
|
|
|
assert is_calibrated
|
|
assert mock_motors.stubs[drive_modes_stub].called
|
|
assert mock_motors.stubs[offsets_stub].called
|
|
assert mock_motors.stubs[mins_stub].called
|
|
assert mock_motors.stubs[maxes_stub].called
|
|
|
|
|
|
def test_reset_calibration(mock_motors, dummy_motors):
|
|
write_homing_stubs = []
|
|
write_mins_stubs = []
|
|
write_maxes_stubs = []
|
|
for motor in dummy_motors.values():
|
|
write_homing_stubs.append(mock_motors.build_write_stub("Homing_Offset", motor.id, 0))
|
|
write_mins_stubs.append(mock_motors.build_write_stub("Min_Position_Limit", motor.id, 0))
|
|
write_maxes_stubs.append(mock_motors.build_write_stub("Max_Position_Limit", motor.id, 4095))
|
|
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
motors_bus.reset_calibration()
|
|
|
|
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
|
|
assert all(mock_motors.stubs[stub].called for stub in write_mins_stubs)
|
|
assert all(mock_motors.stubs[stub].called for stub in write_maxes_stubs)
|
|
|
|
|
|
def test_set_half_turn_homings(mock_motors, dummy_motors):
|
|
"""
|
|
For this test, we assume that the homing offsets are already 0 such that
|
|
Present_Position == Actual_Position
|
|
"""
|
|
current_positions = {
|
|
1: 1337,
|
|
2: 42,
|
|
3: 3672,
|
|
}
|
|
expected_homings = {
|
|
1: 710, # 2047 - 1337
|
|
2: 2005, # 2047 - 42
|
|
3: -1625, # 2047 - 3672
|
|
}
|
|
read_pos_stub = mock_motors.build_sync_read_stub("Present_Position", current_positions)
|
|
write_homing_stubs = []
|
|
for id_, homing in expected_homings.items():
|
|
encoded_homing = encode_twos_complement(homing, 4)
|
|
stub = mock_motors.build_write_stub("Homing_Offset", id_, encoded_homing)
|
|
write_homing_stubs.append(stub)
|
|
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
motors_bus.reset_calibration = MagicMock()
|
|
|
|
motors_bus.set_half_turn_homings()
|
|
|
|
motors_bus.reset_calibration.assert_called_once()
|
|
assert mock_motors.stubs[read_pos_stub].called
|
|
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
|
|
|
|
|
|
def test_record_ranges_of_motion(mock_motors, dummy_motors):
|
|
positions = {
|
|
1: [351, 42, 1337],
|
|
2: [28, 3600, 2444],
|
|
3: [4002, 2999, 146],
|
|
}
|
|
expected_mins = {
|
|
"dummy_1": 42,
|
|
"dummy_2": 28,
|
|
"dummy_3": 146,
|
|
}
|
|
expected_maxes = {
|
|
"dummy_1": 1337,
|
|
"dummy_2": 3600,
|
|
"dummy_3": 4002,
|
|
}
|
|
read_pos_stub = mock_motors.build_sequential_sync_read_stub("Present_Position", positions)
|
|
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
|
|
motors_bus = DynamixelMotorsBus(
|
|
port=mock_motors.port,
|
|
motors=dummy_motors,
|
|
)
|
|
motors_bus.connect(assert_motors_exist=False)
|
|
|
|
mins, maxes = motors_bus.record_ranges_of_motion(display_values=False)
|
|
|
|
assert mock_motors.stubs[read_pos_stub].calls == 3
|
|
assert mins == expected_mins
|
|
assert maxes == expected_maxes
|