adjust initial pose of robotic arms

xr_rm_teleop/test/test_initial_joint_pose.py

@@ -0,0 +1,19 @@
+from xr_rm_teleop.realman_adapter import RealManAdapter
+
+
+def test_initial_pose_uses_joint_move_only() -> None:
+    class FakeArm:
+        def __init__(self) -> None:
+            self.calls = []
+
+        def rm_movej(self, *args):
+            self.calls.append(args)
+            return 0
+
+    joints = [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
+    adapter = RealManAdapter("127.0.0.1", 8080, 0, 1, initial_joint_pose=joints)
+    adapter._arm = FakeArm()
+
+    adapter._move_to_initial_pose()
+
+    assert adapter._arm.calls == [(joints, 20, 0, 0, 1)]