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This commit is contained in:
Remi Cadene
2024-09-16 14:50:53 +02:00
parent ccc0586d45
commit 6636db5b51
8 changed files with 112 additions and 62 deletions
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17
tests/test_robots.py
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@@ -10,18 +10,17 @@ pytest -sx tests/test_robots.py::test_robot
Example of running test on real robots connected to the computer:
```bash
pytest -sx tests/test_robots.py::test_robot[koch]
pytest -sx tests/test_robots.py::test_robot[koch_bimanual]
pytest -sx tests/test_robots.py::test_robot[aloha]
pytest -sx 'tests/test_robots.py::test_robot[koch-False]'
pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-False]'
pytest -sx 'tests/test_robots.py::test_robot[aloha-False]'
```
Example of running test on a mocked version of robots:
```bash
pytest -sx -k "mocked_koch" tests/test_robots.py::test_robot
pytest -sx -k "mocked_koch_bimanual" tests/test_robots.py::test_robot
pytest -sx -k "mocked_aloha" tests/test_robots.py::test_robot
pytest -sx 'tests/test_robots.py::test_robot[koch-True]'
pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-True]'
pytest -sx 'tests/test_robots.py::test_robot[aloha-True]'
```
"""
from pathlib import Path
@@ -43,9 +42,9 @@ def make_robot(robot_type: str, overrides: list[str] | None = None) -> Robot:
return robot
@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_robot(tmpdir, request, robot_type):
def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots