Add mock to feetech

tests/mock_scservo_sdk.py

@@ -0,0 +1,87 @@
+"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration
+and testing code logic that requires hardware and devices (e.g. robot arms, cameras)
+
+Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
+from the original classes and functions (e.g. return types might be None instead of boolean).
+"""
+
+# from dynamixel_sdk import COMM_SUCCESS
+
+DEFAULT_BAUDRATE = 1_000_000
+COMM_SUCCESS = 0  # tx or rx packet communication success
+
+
+def convert_to_bytes(value, bytes):
+    # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
+    # `convert_bytes_to_value`
+    del bytes  # unused
+    return value
+
+
+class PortHandler:
+    def __init__(self, port):
+        self.port = port
+        # factory default baudrate
+        self.baudrate = DEFAULT_BAUDRATE
+
+    def openPort(self):  # noqa: N802
+        return True
+
+    def closePort(self):  # noqa: N802
+        pass
+
+    def setPacketTimeoutMillis(self, timeout_ms):  # noqa: N802
+        del timeout_ms  # unused
+
+    def getBaudRate(self):  # noqa: N802
+        return self.baudrate
+
+    def setBaudRate(self, baudrate):  # noqa: N802
+        self.baudrate = baudrate
+
+
+class PacketHandler:
+    def __init__(self, protocol_version):
+        del protocol_version  # unused
+        # Use packet_handler.data to communicate across Read and Write
+        self.data = {}
+
+
+class GroupSyncRead:
+    def __init__(self, port_handler, packet_handler, address, bytes):
+        self.packet_handler = packet_handler
+
+    def addParam(self, motor_index):  # noqa: N802
+        if motor_index not in self.packet_handler.data:
+            # Initialize motor default values
+            self.packet_handler.data[motor_index] = {
+                # Key (int) are from X_SERIES_CONTROL_TABLE
+                7: motor_index,  # ID
+                8: DEFAULT_BAUDRATE,  # Baud_rate
+                10: 0,  # Drive_Mode
+                64: 0,  # Torque_Enable
+                # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
+                # For other joints, 2560 will be autocorrected to be in calibration range
+                132: 2560,  # Present_Position
+            }
+
+    def txRxPacket(self):  # noqa: N802
+        return COMM_SUCCESS
+
+    def getData(self, index, address, bytes):  # noqa: N802
+        return self.packet_handler.data[index][address]
+
+
+class GroupSyncWrite:
+    def __init__(self, port_handler, packet_handler, address, bytes):
+        self.packet_handler = packet_handler
+        self.address = address
+
+    def addParam(self, index, data):  # noqa: N802
+        self.changeParam(index, data)
+
+    def txPacket(self):  # noqa: N802
+        return COMM_SUCCESS
+
+    def changeParam(self, index, data):  # noqa: N802
+        self.packet_handler.data[index][self.address] = data

tests/test_motors.py

@@ -52,12 +52,24 @@ def test_configure_motors_all_ids_1(request, motor_type, mock):
     if mock:
         request.getfixturevalue("patch_builtins_input")
 
+    if motor_type == "dynamixel":
+        # see X_SERIES_BAUDRATE_TABLE
+        smaller_baudrate = 9_600
+        smaller_baudrate_value = 0
+    elif motor_type == "feetech":
+        # see SCS_SERIES_BAUDRATE_TABLE
+        smaller_baudrate = 19_200
+        smaller_baudrate_value = 7
+    else:
+        raise ValueError(motor_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(motor_type, mock=mock)
     motors_bus.connect()
-    motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
-    motors_bus.set_bus_baudrate(9_600)
+    motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus.motors))
+
+    motors_bus.set_bus_baudrate(smaller_baudrate)
     motors_bus.write("ID", [1] * len(motors_bus.motors))
     del motors_bus
 

tests/utils.py

@@ -52,7 +52,7 @@ for motor_type in available_motors:
 OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
 INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
 
-DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081"
+DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
 DYNAMIXEL_MOTORS = {
     "shoulder_pan": [1, "xl430-w250"],
     "shoulder_lift": [2, "xl430-w250"],
@@ -62,6 +62,16 @@ DYNAMIXEL_MOTORS = {
     "gripper": [6, "xl330-m288"],
 }
 
+FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971")
+FEETECH_MOTORS = {
+    "shoulder_pan": [1, "sts3215"],
+    "shoulder_lift": [2, "sts3215"],
+    "elbow_flex": [3, "sts3215"],
+    "wrist_flex": [4, "sts3215"],
+    "wrist_roll": [5, "sts3215"],
+    "gripper": [6, "sts3215"],
+}
+
 
 def require_x86_64_kernel(func):
     """
@@ -277,7 +287,7 @@ def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False)
 
         # Explicitely add mock argument to the cameras and set it to true
         # TODO(rcadene, aliberts): redesign when we drop hydra
-        if robot_type == "koch":
+        if robot_type in ["koch", "so100", "moss"]:
             overrides.append("+leader_arms.main.mock=true")
             overrides.append("+follower_arms.main.mock=true")
             if "~cameras" not in overrides:
@@ -338,5 +348,12 @@ def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
         motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
         return DynamixelMotorsBus(port, motors, **kwargs)
 
+    elif motor_type == "feetech":
+        from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
+
+        port = kwargs.pop("port", FEETECH_PORT)
+        motors = kwargs.pop("motors", FEETECH_MOTORS)
+        return FeetechMotorsBus(port, motors, **kwargs)
+
     else:
         raise ValueError(f"The motor type '{motor_type}' is not valid.")