Hardware API redesign (#777)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co> Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Simon Alibert
400
tests/motors/test_dynamixel.py
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400
tests/motors/test_dynamixel.py
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import re
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import sys
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from typing import Generator
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from unittest.mock import MagicMock, patch
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import pytest
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from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
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from lerobot.common.motors.dynamixel import MODEL_NUMBER_TABLE, DynamixelMotorsBus
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from lerobot.common.motors.dynamixel.tables import X_SERIES_CONTROL_TABLE
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from lerobot.common.utils.encoding_utils import encode_twos_complement
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try:
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import dynamixel_sdk as dxl
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from tests.mocks.mock_dynamixel import MockMotors, MockPortHandler
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except (ImportError, ModuleNotFoundError):
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pytest.skip("dynamixel_sdk not available", allow_module_level=True)
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@pytest.fixture(autouse=True)
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def patch_port_handler():
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if sys.platform == "darwin":
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with patch.object(dxl, "PortHandler", MockPortHandler):
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yield
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else:
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yield
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@pytest.fixture
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def mock_motors() -> Generator[MockMotors, None, None]:
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motors = MockMotors()
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motors.open()
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yield motors
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motors.close()
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@pytest.fixture
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def dummy_motors() -> dict[str, Motor]:
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return {
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"dummy_1": Motor(1, "xl430-w250", MotorNormMode.RANGE_M100_100),
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"dummy_2": Motor(2, "xm540-w270", MotorNormMode.RANGE_M100_100),
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"dummy_3": Motor(3, "xl330-m077", MotorNormMode.RANGE_M100_100),
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}
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@pytest.fixture
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def dummy_calibration(dummy_motors) -> dict[str, MotorCalibration]:
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drive_modes = [0, 1, 0]
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homings = [-709, -2006, 1624]
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mins = [43, 27, 145]
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maxes = [1335, 3608, 3999]
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calibration = {}
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for motor, m in dummy_motors.items():
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calibration[motor] = MotorCalibration(
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id=m.id,
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drive_mode=drive_modes[m.id - 1],
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homing_offset=homings[m.id - 1],
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range_min=mins[m.id - 1],
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range_max=maxes[m.id - 1],
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)
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return calibration
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@pytest.mark.skipif(sys.platform != "darwin", reason=f"No patching needed on {sys.platform=}")
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def test_autouse_patch():
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"""Ensures that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
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assert dxl.PortHandler is MockPortHandler
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@pytest.mark.parametrize(
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"value, length, expected",
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[
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(0x12, 1, [0x12]),
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(0x1234, 2, [0x34, 0x12]),
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(0x12345678, 4, [0x78, 0x56, 0x34, 0x12]),
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],
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ids=[
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"1 byte",
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"2 bytes",
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"4 bytes",
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],
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) # fmt: skip
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def test__split_into_byte_chunks(value, length, expected):
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bus = DynamixelMotorsBus("", {})
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assert bus._split_into_byte_chunks(value, length) == expected
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def test_abc_implementation(dummy_motors):
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"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
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DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
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@pytest.mark.parametrize("id_", [1, 2, 3])
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def test_ping(id_, mock_motors, dummy_motors):
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expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
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stub = mock_motors.build_ping_stub(id_, expected_model_nb)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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ping_model_nb = bus.ping(id_)
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assert ping_model_nb == expected_model_nb
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assert mock_motors.stubs[stub].called
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def test_broadcast_ping(mock_motors, dummy_motors):
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models = {m.id: m.model for m in dummy_motors.values()}
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expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
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stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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ping_model_nbs = bus.broadcast_ping()
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assert ping_model_nbs == expected_model_nbs
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize(
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"addr, length, id_, value",
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[
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(0, 1, 1, 2),
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(10, 2, 2, 999),
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(42, 4, 3, 1337),
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],
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)
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def test__read(addr, length, id_, value, mock_motors, dummy_motors):
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stub = mock_motors.build_read_stub(addr, length, id_, value)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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read_value, _, _ = bus._read(addr, length, id_)
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assert mock_motors.stubs[stub].called
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assert read_value == value
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@pytest.mark.parametrize("raise_on_error", (True, False))
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def test__read_error(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
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stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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if raise_on_error:
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with pytest.raises(
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RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
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):
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bus._read(addr, length, id_, raise_on_error=raise_on_error)
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else:
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_, _, read_error = bus._read(addr, length, id_, raise_on_error=raise_on_error)
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assert read_error == error
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize("raise_on_error", (True, False))
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def test__read_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value = (10, 4, 1, 1337)
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stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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bus._read(addr, length, id_, raise_on_error=raise_on_error)
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else:
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_, read_comm, _ = bus._read(addr, length, id_, raise_on_error=raise_on_error)
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assert read_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize(
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"addr, length, id_, value",
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[
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(0, 1, 1, 2),
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(10, 2, 2, 999),
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(42, 4, 3, 1337),
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],
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)
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def test__write(addr, length, id_, value, mock_motors, dummy_motors):
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stub = mock_motors.build_write_stub(addr, length, id_, value)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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comm, error = bus._write(addr, length, id_, value)
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assert mock_motors.stubs[stub].called
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assert comm == dxl.COMM_SUCCESS
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assert error == 0
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@pytest.mark.parametrize("raise_on_error", (True, False))
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def test__write_error(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
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stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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if raise_on_error:
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with pytest.raises(
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RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
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):
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bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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else:
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_, write_error = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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assert write_error == error
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize("raise_on_error", (True, False))
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def test__write_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value = (10, 4, 1, 1337)
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stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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else:
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write_comm, _ = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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assert write_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize(
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"addr, length, ids_values",
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[
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(0, 1, {1: 4}),
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(10, 2, {1: 1337, 2: 42}),
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(42, 4, {1: 1337, 2: 42, 3: 4016}),
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],
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ids=["1 motor", "2 motors", "3 motors"],
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)
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def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
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stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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read_values, _ = bus._sync_read(addr, length, list(ids_values))
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assert mock_motors.stubs[stub].called
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assert read_values == ids_values
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@pytest.mark.parametrize("raise_on_error", (True, False))
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def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, ids_values = (10, 4, {1: 1337})
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stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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else:
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_, read_comm = bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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assert read_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@pytest.mark.parametrize(
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"addr, length, ids_values",
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[
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(0, 1, {1: 4}),
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(10, 2, {1: 1337, 2: 42}),
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(42, 4, {1: 1337, 2: 42, 3: 4016}),
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],
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ids=["1 motor", "2 motors", "3 motors"],
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)
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def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
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stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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comm = bus._sync_write(addr, length, ids_values)
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assert mock_motors.stubs[stub].wait_called()
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assert comm == dxl.COMM_SUCCESS
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def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
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drive_modes = {m.id: m.drive_mode for m in dummy_calibration.values()}
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encoded_homings = {m.id: encode_twos_complement(m.homing_offset, 4) for m in dummy_calibration.values()}
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mins = {m.id: m.range_min for m in dummy_calibration.values()}
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maxes = {m.id: m.range_max for m in dummy_calibration.values()}
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drive_modes_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Drive_Mode"], drive_modes)
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offsets_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], encoded_homings)
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mins_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Min_Position_Limit"], mins)
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maxes_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], maxes)
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bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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calibration=dummy_calibration,
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)
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bus.connect(handshake=False)
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is_calibrated = bus.is_calibrated
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assert is_calibrated
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assert mock_motors.stubs[drive_modes_stub].called
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assert mock_motors.stubs[offsets_stub].called
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assert mock_motors.stubs[mins_stub].called
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assert mock_motors.stubs[maxes_stub].called
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def test_reset_calibration(mock_motors, dummy_motors):
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write_homing_stubs = []
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write_mins_stubs = []
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write_maxes_stubs = []
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for motor in dummy_motors.values():
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write_homing_stubs.append(
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mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], motor.id, 0)
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)
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write_mins_stubs.append(
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mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Min_Position_Limit"], motor.id, 0)
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)
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write_maxes_stubs.append(
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mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], motor.id, 4095)
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)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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bus.reset_calibration()
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assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
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assert all(mock_motors.stubs[stub].called for stub in write_mins_stubs)
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assert all(mock_motors.stubs[stub].called for stub in write_maxes_stubs)
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def test_set_half_turn_homings(mock_motors, dummy_motors):
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"""
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For this test, we assume that the homing offsets are already 0 such that
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Present_Position == Actual_Position
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"""
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current_positions = {
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1: 1337,
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2: 42,
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3: 3672,
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}
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expected_homings = {
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1: 710, # 2047 - 1337
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2: 2005, # 2047 - 42
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3: -1625, # 2047 - 3672
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}
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read_pos_stub = mock_motors.build_sync_read_stub(
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*X_SERIES_CONTROL_TABLE["Present_Position"], current_positions
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)
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write_homing_stubs = []
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for id_, homing in expected_homings.items():
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encoded_homing = encode_twos_complement(homing, 4)
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stub = mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], id_, encoded_homing)
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write_homing_stubs.append(stub)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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bus.reset_calibration = MagicMock()
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bus.set_half_turn_homings()
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bus.reset_calibration.assert_called_once()
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assert mock_motors.stubs[read_pos_stub].called
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assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
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def test_record_ranges_of_motion(mock_motors, dummy_motors):
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positions = {
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1: [351, 42, 1337],
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2: [28, 3600, 2444],
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3: [4002, 2999, 146],
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}
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expected_mins = {
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"dummy_1": 42,
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"dummy_2": 28,
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"dummy_3": 146,
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}
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expected_maxes = {
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"dummy_1": 1337,
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"dummy_2": 3600,
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"dummy_3": 4002,
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}
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read_pos_stub = mock_motors.build_sequential_sync_read_stub(
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*X_SERIES_CONTROL_TABLE["Present_Position"], positions
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)
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with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(handshake=False)
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mins, maxes = bus.record_ranges_of_motion(display_values=False)
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assert mock_motors.stubs[read_pos_stub].calls == 3
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assert mins == expected_mins
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assert maxes == expected_maxes
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