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fix unit tests

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This commit is contained in:
Remi Cadene
2024-09-26 13:19:29 +02:00
parent 3cb85bcd4b
commit a236382590
1 changed files with 15 additions and 8 deletions
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23
tests/test_robots.py
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@@ -50,9 +50,15 @@ def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): add compatibility with other robots # TODO(rcadene): add compatibility with other robots
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
# Save calibration preset if robot_type == "aloha" and mock:
tmpdir = Path(tmpdir) # To simplify unit test, we do not rerun manual calibration for Aloha mock=True.
calibration_dir = tmpdir / robot_type # Instead, we use the files from '.cache/calibration/aloha_default'
overrides_calibration_dir = None
else:
# Create an empty calibration directory to trigger manual calibration
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
overrides_calibration_dir = [f"calibration_dir={calibration_dir}"]
# Test connecting without devices raises an error # Test connecting without devices raises an error
robot = ManipulatorRobot() robot = ManipulatorRobot()
@@ -76,9 +82,9 @@ def test_robot(tmpdir, request, robot_type, mock):
# Test deleting the object without connecting first # Test deleting the object without connecting first
del robot del robot
# Test connecting # Test connecting (triggers manual calibration)
robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"]) robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot.connect() # run the manual calibration precedure robot.connect()
assert robot.is_connected assert robot.is_connected
# Test connecting twice raises an error # Test connecting twice raises an error
@@ -89,8 +95,9 @@ def test_robot(tmpdir, request, robot_type, mock):
del robot del robot
# Test teleop can run # Test teleop can run
robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"]) robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot.calibration_dir = calibration_dir if overrides_calibration_dir is not None:
robot.calibration_dir = calibration_dir
robot.connect() robot.connect()
robot.teleop_step() robot.teleop_step()