36 lines
896 B
Python
36 lines
896 B
Python
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import numpy as np
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import pytest
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from gello.dynamixel.driver import FakeDynamixelDriver
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@pytest.fixture
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def fake_driver():
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return FakeDynamixelDriver(ids=[1, 2])
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def test_set_joints(fake_driver):
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fake_driver.set_torque_mode(True)
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fake_driver.set_joints([np.pi / 2, np.pi / 2])
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assert np.allclose(fake_driver.get_joints(), [np.pi / 2, np.pi / 2])
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def test_set_joints_wrong_length(fake_driver):
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with pytest.raises(ValueError):
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fake_driver.set_joints([np.pi / 2])
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def test_set_joints_torque_disabled(fake_driver):
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with pytest.raises(RuntimeError):
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fake_driver.set_joints([np.pi / 2, np.pi / 2])
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def test_torque_enabled(fake_driver):
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assert not fake_driver.torque_enabled()
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fake_driver.set_torque_mode(True)
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assert fake_driver.torque_enabled()
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def test_get_joints(fake_driver):
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assert np.allclose(fake_driver.get_joints(), [0, 0])
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