tests/README.md

TARS Hardware Tests

Test scripts for validating TARS robot hardware functionality.

Test Scripts

test_gesture.py

Tests TARS physical movements and gestures.

Tests:

• side_side - Side-to-side head movement
• wave_right - Right arm wave gesture

Usage:

python tests/test_gesture.py

test_speaker.py

Tests audio hardware: speaker output and microphone input.

Tests:

1. Speaker device detection
2. Friendly test melody playback (C-E-G)
3. Microphone device detection
4. 5-second audio recording
5. Playback of recorded audio

Usage:

python tests/test_speaker.py

test_expressions.py

Tests TARS facial expressions: emotions and eye states.

Emotions tested:

• default, happy, angry, tired, surprised, confused

Eye states tested:

• idle, listening, thinking, speaking

Usage:

python tests/test_expressions.py

Requirements

• TARS daemon must be running on Raspberry Pi
• SSH access configured to tars-pi
• Python dependencies installed (see requirements.txt)

Configuration

Tests connect to Pi at 100.84.133.74:50051 (gRPC) and 100.84.133.74:8001 (HTTP).

Update the IP address in test files if your Pi has a different address.