From b5c9b8ae91a9d0e5d30c6ecce466a1f710f9f021 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 20 Aug 2024 23:33:03 -0700 Subject: [PATCH] fix test --- .github/workflows/build_test.yaml | 1 - body/test/robot_tests/test_robot_home_stow.py | 26 +++++++++---------- 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/.github/workflows/build_test.yaml b/.github/workflows/build_test.yaml index f99a7de8..6fc150f1 100644 --- a/.github/workflows/build_test.yaml +++ b/.github/workflows/build_test.yaml @@ -30,5 +30,4 @@ jobs: run: | export HELLO_FLEET_PATH=/home/hello-robot/stretch_user export HELLO_FLEET_ID=stretch-se3-3002 - sudo chown -R hello-robot:hello-robot /dev/ pytest-3 body/test/robot_tests/test_robot_home_stow.py \ No newline at end of file diff --git a/body/test/robot_tests/test_robot_home_stow.py b/body/test/robot_tests/test_robot_home_stow.py index 57fdcdc3..07d8caa8 100644 --- a/body/test/robot_tests/test_robot_home_stow.py +++ b/body/test/robot_tests/test_robot_home_stow.py @@ -127,27 +127,27 @@ def test_robot_stow(self): if self.robot.params['tool'] == 'tool_stretch_dex_wrist': - stow_poses['wrist_yaw'] = self.robot.get_stow_pos('wrist_yaw') - stow_poses['wrist_roll'] = self.robot.get_stow_pos('wrist_roll') - stow_poses['wrist_pitch'] = self.robot.get_stow_pos('wrist_pitch') - stow_poses['stretch_gripper'] = self.robot.get_stow_pos('stretch_gripper') + stow_poses['wrist_yaw'] = self.robot.end_of_arm.params['stow']['wrist_yaw'] + stow_poses['wrist_roll'] = self.robot.end_of_arm.params['stow']['wrist_roll'] + stow_poses['wrist_pitch'] = self.robot.end_of_arm.params['stow']['wrist_pitch'] + stow_poses['stretch_gripper'] = self.robot.end_of_arm.params['stow']['stretch_gripper'] if self.robot.params['tool'] == 'eoa_wrist_dw3_tool_sg3': - stow_poses['wrist_yaw'] = self.robot.get_stow_pos('wrist_yaw') - stow_poses['wrist_roll'] = self.robot.get_stow_pos('wrist_roll') - stow_poses['wrist_pitch'] = self.robot.get_stow_pos('wrist_pitch') - stow_poses['stretch_gripper'] = self.robot.get_stow_pos('stretch_gripper') + stow_poses['wrist_yaw'] = self.robot.end_of_arm.params['stow']['wrist_yaw'] + stow_poses['wrist_roll'] = self.robot.end_of_arm.params['stow']['wrist_roll'] + stow_poses['wrist_pitch'] = self.robot.end_of_arm.params['stow']['wrist_pitch'] + stow_poses['stretch_gripper'] = self.robot.end_of_arm.params['stow']['stretch_gripper'] if self.robot.params['tool'] == 'tool_stretch_gripper': - stow_poses['wrist_yaw'] = self.robot.get_stow_pos('wrist_yaw') - stow_poses['stretch_gripper'] = self.robot.get_stow_pos('stretch_gripper') + stow_poses['wrist_yaw'] = self.robot.end_of_arm.params['stow']['wrist_yaw'] + stow_poses['stretch_gripper'] = self.robot.end_of_arm.params['stow']['stretch_gripper'] if self.robot.params['tool'] == 'eoa_wrist_dw3_tool_nil': - stow_poses['wrist_yaw'] = self.robot.get_stow_pos('wrist_yaw') - stow_poses['wrist_roll'] = self.robot.get_stow_pos('wrist_roll') - stow_poses['wrist_pitch'] = self.robot.get_stow_pos('wrist_pitch') + stow_poses['wrist_yaw'] = self.robot.end_of_arm.params['stow']['wrist_yaw'] + stow_poses['wrist_roll'] = self.robot.end_of_arm.params['stow']['wrist_roll'] + stow_poses['wrist_pitch'] = self.robot.end_of_arm.params['stow']['wrist_pitch'] self.check_joint_poses(stow_poses, 'Stowing')