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Mock dynamixel_sdk

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This commit is contained in:
Remi Cadene
2024-09-12 01:08:44 +02:00
parent 3bd5ea4d7a
commit 4151630c24
3 changed files with 52 additions and 17 deletions
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8
tests/utils.py
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@@ -312,11 +312,19 @@ def mock_motors(request):
MockGroupSyncWrite,
MockPacketHandler,
MockPortHandler,
mock_convert_to_bytes,
)
monkeypatch.setattr(dynamixel_sdk, "GroupSyncRead", MockGroupSyncRead)
monkeypatch.setattr(dynamixel_sdk, "GroupSyncWrite", MockGroupSyncWrite)
monkeypatch.setattr(dynamixel_sdk, "PacketHandler", MockPacketHandler)
monkeypatch.setattr(dynamixel_sdk, "PortHandler", MockPortHandler)
# Import dynamixel AFTER mocking dynamixel_sdk to use mocked classes
from lerobot.common.robot_devices.motors import dynamixel
# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
# `convert_bytes_to_value`
monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
except ImportError:
traceback.print_exc()