Remove old calibration tests

tests/motors/test_calibration.py

@@ -1,147 +0,0 @@
-import sys
-from typing import Generator
-from unittest.mock import Mock, call, patch
-
-import pytest
-import scservo_sdk as scs
-
-from lerobot.common.motors import Motor, MotorNormMode
-from lerobot.common.motors.calibration import find_min_max, find_offset, set_min_max, set_offset
-from lerobot.common.motors.feetech import FeetechMotorsBus
-from tests.mocks.mock_feetech import MockMotors, MockPortHandler
-
-
-@pytest.fixture(autouse=True)
-def patch_port_handler():
-    if sys.platform == "darwin":
-        with patch.object(scs, "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, "sts3215", MotorNormMode.RANGE_M100_100),
-        "wrist_roll": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
-        "dummy_3": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
-    }
-
-
-@pytest.fixture(autouse=True)
-def patch_broadcast_ping():
-    with patch.object(FeetechMotorsBus, "broadcast_ping", return_value={1: 777, 2: 777, 3: 777}):
-        yield
-
-
-@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 scs.PortHandler with MockPortHandler."""
-    assert scs.PortHandler is MockPortHandler
-
-
-@pytest.mark.parametrize(
-    "motor_names, read_values",
-    [
-        (
-            ["dummy_1"],
-            [{"dummy_1": 3000}],
-        ),
-    ],
-    ids=["two-motors"],
-)
-def test_find_offset(mock_motors, dummy_motors, motor_names, read_values):
-    motors_bus = FeetechMotorsBus(
-        port=mock_motors.port,
-        motors=dummy_motors,
-    )
-    motors_bus.connect()
-
-    with (
-        patch("builtins.input", return_value=""),
-        patch("lerobot.common.motors.calibration.set_offset") as mock_set_offset,
-    ):
-        motors_bus.sync_read = Mock(side_effect=[{"dummy_1": 3000}])
-        motors_bus.motor_names = motor_names
-        motors_bus.write = Mock(return_value=None)
-
-        find_offset(motors_bus)
-        # Compute the expected offset: 3000 - 2047 = 953.
-        expected_calls = [call(motors_bus, 953, "dummy_1")]
-        mock_set_offset.assert_has_calls(expected_calls, any_order=False)
-
-
-def test_find_min_max(mock_motors, dummy_motors):
-    motors_bus = FeetechMotorsBus(
-        port=mock_motors.port,
-        motors=dummy_motors,
-    )
-    motors_bus.connect()
-    motors_bus.motor_names = list(dummy_motors.keys())
-    read_side_effect = [
-        {"dummy_1": 10, "wrist_roll": 20, "dummy_3": 30},  # For first sync_read call.
-        {"dummy_1": 4000, "wrist_roll": 2000, "dummy_3": 100},  # For second sync_read call.
-        {"dummy_1": 100, "wrist_roll": 4050, "dummy_3": 2010},  # For third sync_read call.
-    ]
-    motors_bus.sync_read = Mock(side_effect=read_side_effect)
-
-    select_returns = [
-        ([], [], []),  # First iteration: no input.
-        ([], [], []),  # Second iteration.
-        ([sys.stdin], [], []),  # Third iteration: simulate pressing ENTER.
-    ]
-    with (
-        patch("lerobot.common.motors.calibration.set_min_max") as mock_set_min_max,
-        patch("lerobot.common.motors.calibration.select.select", side_effect=select_returns),
-        patch("sys.stdin.readline", return_value="\n"),
-    ):
-        find_min_max(motors_bus)
-
-    mock_set_min_max.assert_any_call(motors_bus, 10, 4000, "dummy_1")
-    mock_set_min_max.assert_any_call(motors_bus, 0, 4095, "wrist_roll")  # wrist_roll is forced to [0,4095]
-    mock_set_min_max.assert_any_call(motors_bus, 30, 2010, "dummy_3")
-    assert mock_set_min_max.call_count == 3
-
-
-def test_set_offset_clamping(mock_motors, dummy_motors):
-    motors_bus = FeetechMotorsBus(
-        port=mock_motors.port,
-        motors=dummy_motors,
-    )
-    motors_bus.connect()
-    motors_bus.sync_read = Mock(return_value={"dummy_1": 2047})
-    motors_bus.write = Mock()
-    # A very large offset should be clamped to +2047.
-    set_offset(motors_bus, 9999, "dummy_1")
-    motors_bus.write.assert_any_call("Offset", "dummy_1", 2047, raw_value=True)
-
-
-def test_set_min_max(mock_motors, dummy_motors):
-    motors_bus = FeetechMotorsBus(
-        port=mock_motors.port,
-        motors=dummy_motors,
-    )
-    motors_bus.connect()
-
-    def _sync_read_side_effect(data_name, motors, *, raw_values=False):
-        if data_name == "Min_Angle_Limit":
-            return {"dummy_1": 100}
-        elif data_name == "Max_Angle_Limit":
-            return {"dummy_1": 3000}
-        return {}
-
-    motors_bus.sync_read = Mock(side_effect=_sync_read_side_effect)
-
-    motors_bus.write = Mock()
-    set_min_max(motors_bus, 100, 3000, "dummy_1")
-    motors_bus.write.assert_any_call("Min_Angle_Limit", "dummy_1", 100, raw_value=True)
-    motors_bus.write.assert_any_call("Max_Angle_Limit", "dummy_1", 3000, raw_value=True)