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[pre-commit.ci] auto fixes from pre-commit.com hooks

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pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
committed by AdilZouitine
parent 76df8a31b3
commit 38f5fa4523
79 changed files with 2782 additions and 788 deletions
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61
tests/utils.py
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@@ -47,7 +47,9 @@ for motor_type in available_motors:
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_SERIAL_NUMBER = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_SERIAL_NUMBER", 128422271614))
DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_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"],
@@ -57,7 +59,9 @@ DYNAMIXEL_MOTORS = {
"gripper": [6, "xl330-m288"],
}
FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971")
FEETECH_PORT = os.environ.get(
"LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971"
)
FEETECH_MOTORS = {
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
@@ -156,9 +160,13 @@ def require_package_arg(func):
if "required_packages" in arg_names:
# Get the index of 'required_packages' and retrieve the value from args
index = arg_names.index("required_packages")
required_packages = args[index] if len(args) > index else kwargs.get("required_packages")
required_packages = (
args[index] if len(args) > index else kwargs.get("required_packages")
)
else:
raise ValueError("Function does not have 'required_packages' as an argument.")
raise ValueError(
"Function does not have 'required_packages' as an argument."
)
if required_packages is None:
return func(*args, **kwargs)
@@ -215,11 +223,17 @@ def require_robot(func):
mock = kwargs.get("mock")
if robot_type is None:
raise ValueError("The 'robot_type' must be an argument of the test function.")
raise ValueError(
"The 'robot_type' must be an argument of the test function."
)
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
# Run test with a real robot. Skip test if robot connection fails.
if not mock and not request.getfixturevalue("is_robot_available"):
@@ -239,11 +253,17 @@ def require_camera(func):
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
raise ValueError(
"The 'camera_type' must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
if not mock and not request.getfixturevalue("is_camera_available"):
pytest.skip(f"A {camera_type} camera is not available.")
@@ -262,11 +282,17 @@ def require_motor(func):
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
raise ValueError(
"The 'request' fixture must be an argument of the test function."
)
if motor_type is None:
raise ValueError("The 'motor_type' must be an argument of the test function.")
raise ValueError(
"The 'motor_type' must be an argument of the test function."
)
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
raise ValueError(
"The 'mock' variable must be an argument of the test function."
)
if not mock and not request.getfixturevalue("is_motor_available"):
pytest.skip(f"A {motor_type} motor is not available.")
@@ -285,7 +311,14 @@ def mock_calibration_dir(calibration_dir):
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
"motor_names": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper",
],
}
Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
with open(calibration_dir / "main_follower.json", "w") as f: