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fix unit tests

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This commit is contained in:
Remi Cadene
2024-09-26 13:51:45 +02:00
parent a236382590
commit 8b36223832
5 changed files with 106 additions and 117 deletions
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25
tests/test_motors.py
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@@ -30,31 +30,8 @@ import time
import numpy as np
import pytest
from lerobot.common.robot_devices.motors.utils import MotorsBus
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_MOTOR_TYPES, mock_input, require_motor
DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081"
DYNAMIXEL_MOTORS = {
"shoulder_pan": [1, "xl430-w250"],
"shoulder_lift": [2, "xl430-w250"],
"elbow_flex": [3, "xl330-m288"],
"wrist_flex": [4, "xl330-m288"],
"wrist_roll": [5, "xl330-m288"],
"gripper": [6, "xl330-m288"],
}
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
port = kwargs.pop("port", DYNAMIXEL_PORT)
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
return DynamixelMotorsBus(port, motors, **kwargs)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, mock_input, require_motor
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)