fix test

hello-robot · Aug 21, 2024 · b5c9b8a · b5c9b8a
1 parent 32c3d56
commit b5c9b8a
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Showing 2 changed files with 13 additions and 14 deletions.
diff --git 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
diff --git 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')