From f6a2396484c86cc16c98444554ff69b817930b06 Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Sat, 15 Mar 2025 22:19:50 +0100
Subject: [PATCH] Move test_configure_motors_all_ids_1

---
 tests/motors/test_dynamixel.py  | 25 +++++++++++++++++++++++-
 tests/motors/test_feetech.py    | 25 +++++++++++++++++++++++-
 tests/motors/test_motors_bus.py | 34 ---------------------------------
 3 files changed, 48 insertions(+), 36 deletions(-)

diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
index de18f8dd..ba6d75ba 100644
--- a/tests/motors/test_dynamixel.py
+++ b/tests/motors/test_dynamixel.py
@@ -21,4 +21,27 @@ def test_abc_implementation():
     from lerobot.common.motors.dynamixel import DynamixelMotorsBus
 
     # Instantiation should raise an error if the class doesn't implements abstract methods/properties
-    DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy", (1, "xl330-m077")})
+    DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
+
+
+def test_configure_motors_all_ids_1():
+    from lerobot.common.motors.dynamixel import DynamixelMotorsBus
+
+    # see X_SERIES_BAUDRATE_TABLE
+    smaller_baudrate = 9_600
+    smaller_baudrate_value = 0
+
+    # This test expect the configuration was already correct.
+    motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
+    motors_bus.connect()
+    motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus))
+
+    motors_bus.set_baudrate(smaller_baudrate)
+    motors_bus.write("ID", [1] * len(motors_bus))
+    del motors_bus
+
+    # Test configure
+    motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
+    motors_bus.connect()
+    assert motors_bus.are_motors_configured()
+    del motors_bus
diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py
index bd9368df..9805de84 100644
--- a/tests/motors/test_feetech.py
+++ b/tests/motors/test_feetech.py
@@ -21,4 +21,27 @@ def test_abc_implementation():
     from lerobot.common.motors.feetech import FeetechMotorsBus
 
     # Instantiation should raise an error if the class doesn't implements abstract methods/properties
-    FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy", (1, "sts3215")})
+    FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
+
+
+def test_configure_motors_all_ids_1():
+    from lerobot.common.motors.feetech import FeetechMotorsBus
+
+    # see SCS_SERIES_BAUDRATE_TABLE
+    smaller_baudrate = 19_200
+    smaller_baudrate_value = 7
+
+    # This test expect the configuration was already correct.
+    motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
+    motors_bus.connect()
+    motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus))
+
+    motors_bus.set_baudrate(smaller_baudrate)
+    motors_bus.write("ID", [1] * len(motors_bus))
+    del motors_bus
+
+    # Test configure
+    motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
+    motors_bus.connect()
+    assert motors_bus.are_motors_configured()
+    del motors_bus
diff --git a/tests/motors/test_motors_bus.py b/tests/motors/test_motors_bus.py
index 44c273d2..51588a58 100644
--- a/tests/motors/test_motors_bus.py
+++ b/tests/motors/test_motors_bus.py
@@ -59,40 +59,6 @@ def test_find_port(request, motor_type, mock):
         find_port()
 
 
-@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
-@require_motor
-def test_configure_motors_all_ids_1(request, motor_type, mock):
-    if mock:
-        request.getfixturevalue("patch_builtins_input")
-
-    if motor_type == "dynamixel":
-        # see X_SERIES_BAUDRATE_TABLE
-        smaller_baudrate = 9_600
-        smaller_baudrate_value = 0
-    elif motor_type == "feetech":
-        # see SCS_SERIES_BAUDRATE_TABLE
-        smaller_baudrate = 19_200
-        smaller_baudrate_value = 7
-    else:
-        raise ValueError(motor_type)
-
-    input("Are you sure you want to re-configure the motors? Press enter to continue...")
-    # This test expect the configuration was already correct.
-    motors_bus = make_motors_bus(motor_type, mock=mock)
-    motors_bus.connect()
-    motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus.motors))
-
-    motors_bus.set_bus_baudrate(smaller_baudrate)
-    motors_bus.write("ID", [1] * len(motors_bus.motors))
-    del motors_bus
-
-    # Test configure
-    motors_bus = make_motors_bus(motor_type, mock=mock)
-    motors_bus.connect()
-    assert motors_bus.are_motors_configured()
-    del motors_bus
-
-
 @pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
 @require_motor
 def test_motors_bus(request, motor_type, mock):