feat: 复用适配器初始位姿运动

xr_rm_teleop/test/test_initial_joint_pose.py

@@ -30,11 +30,23 @@ def test_initial_pose_uses_joint_move_only() -> None:
     )
     adapter._arm = FakeArm()
 
-    adapter._move_to_initial_pose()
+    adapter.move_to_initial_pose()
 
     assert adapter._arm.calls == [(joints, 20, 0, 0, 1)]
 
 
+def test_mock_initial_pose_restores_configured_joints() -> None:
+    initial_degrees = [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
+    adapter = MockRealManAdapter(initial_degrees)
+    adapter.send_joint_target([0.0] * 7, follow=False)
+
+    adapter.move_to_initial_pose()
+
+    assert adapter.read_joint_state().positions == pytest.approx(
+        [math.radians(value) for value in initial_degrees]
+    )
+
+
 def test_peripheral_config_exposes_selected_tool() -> None:
     config = PeripheralConfig(
         scissorgripper=1,