fix test

hello-robot · Aug 21, 2024 · d42bd2e · d42bd2e
1 parent aa4993c
commit d42bd2e
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/body/test/robot_tests/test_robot_home_stow.py b/body/test/robot_tests/test_robot_home_stow.py
@@ -96,8 +96,8 @@ def test_robot_home(self):
 
         if self.robot.params['tool'] == 'eoa_wrist_dw3_tool_sg3':
             home_poses['wrist_yaw'] = 0
-            home_poses['wrist_roll'] = self.bringup_test.robot_params[self.robot.params['tool']]['stow']['wrist_roll']
-            home_poses['wrist_pitch'] = self.bringup_test.robot_params[self.robot.params['tool']]['stow']['wrist_pitch']
+            home_poses['wrist_roll'] = self.robot.params['stow']['wrist_roll']
+            home_poses['wrist_pitch'] = self.robot.params['stow']['wrist_pitch']
             home_poses['stretch_gripper'] = 0
 
         if self.robot.params['tool'] == 'tool_stretch_gripper':
@@ -106,10 +106,9 @@ def test_robot_home(self):
 
         if self.robot.params['tool'] == 'eoa_wrist_dw3_tool_nil':
             home_poses['wrist_yaw'] = 0
-            home_poses['wrist_roll'] = self.bringup_test.robot_params[self.robot.params['tool']]['stow']['wrist_roll']
-            home_poses['wrist_pitch'] = self.bringup_test.robot_params[self.robot.params['tool']]['stow']['wrist_pitch']
+            home_poses['wrist_roll'] = self.robot.params['stow']['wrist_roll']
+            home_poses['wrist_pitch'] = self.robot.params['stow']['wrist_pitch']
 
-        self.bringup_test.log_params('home_poses', home_poses)
         self.check_joint_poses(home_poses, 'Homing')
 
     def test_robot_stow(self):
@@ -150,7 +149,6 @@ def test_robot_stow(self):
             stow_poses['wrist_roll'] = self.robot.get_stow_pos('wrist_roll')
             stow_poses['wrist_pitch'] = self.robot.get_stow_pos('wrist_pitch')
 
-        self.bringup_test.log_params('stow_poses', stow_poses)
         self.check_joint_poses(stow_poses, 'Stowing')