feat: 添加双臂 MuJoCo 运动学模型

xr_rm_mujoco/test/test_dual_arm_simulator.py

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+import math
+from pathlib import Path
+
+import pytest
+import yaml
+
+from xr_rm_mujoco.dual_arm_simulator import (
+    ARM_JOINT_NAMES,
+    DualArmKinematicModel,
+)
+
+
+SRC_DIR = Path(__file__).resolve().parents[2]
+URDF_PATH = (
+    SRC_DIR / "xr_rm_teleop" / "models" / "dual_rm75" / "Dual_arm.urdf"
+)
+DUAL_CONFIG_PATH = SRC_DIR / "xr_rm_bringup" / "config" / "dual_arm_rm75.yaml"
+
+
+def test_dual_urdf_loads_with_expected_joint_mapping() -> None:
+    simulation = DualArmKinematicModel(str(URDF_PATH))
+
+    assert simulation.model.nq == 14
+    assert simulation.model.nv == 14
+    assert ARM_JOINT_NAMES == {
+        "left": tuple(f"scissor_joint_{index}" for index in range(1, 8)),
+        "right": tuple(f"omnipic_joint_{index}" for index in range(1, 8)),
+    }
+    assert not simulation.ready
+
+
+def test_joint_messages_are_mapped_by_name_not_array_order() -> None:
+    simulation = DualArmKinematicModel(str(URDF_PATH))
+    names = list(reversed(ARM_JOINT_NAMES["left"]))
+    values = [float(index) / 10.0 for index in range(7)]
+
+    simulation.apply_arm_state("left", names, values)
+
+    by_name = dict(zip(names, values))
+    assert simulation.joint_positions("left") == pytest.approx(
+        [by_name[name] for name in ARM_JOINT_NAMES["left"]]
+    )
+    assert not simulation.ready
+
+
+def test_yaml_initial_poses_populate_both_arms() -> None:
+    simulation = DualArmKinematicModel(str(URDF_PATH))
+    with DUAL_CONFIG_PATH.open(encoding="utf-8") as stream:
+        config = yaml.safe_load(stream)
+
+    for arm, node_name in (
+        ("left", "left_arm_teleop"),
+        ("right", "right_arm_teleop"),
+    ):
+        degrees = config[node_name]["ros__parameters"]["initial_joint_pose"]
+        radians = [math.radians(value) for value in degrees]
+        simulation.apply_arm_state(arm, ARM_JOINT_NAMES[arm], radians)
+        assert simulation.joint_positions(arm) == pytest.approx(radians)
+
+    assert simulation.ready
+
+
+@pytest.mark.parametrize(
+    ("names", "positions", "match"),
+    [
+        (list(ARM_JOINT_NAMES["left"][:-1]), [0.0] * 6, "expected"),
+        (list(ARM_JOINT_NAMES["left"]), [0.0] * 6, "same length"),
+        (
+            [ARM_JOINT_NAMES["left"][0]] * 7,
+            [0.0] * 7,
+            "unique",
+        ),
+        (
+            list(ARM_JOINT_NAMES["left"]),
+            [0.0] * 6 + [math.nan],
+            "finite",
+        ),
+    ],
+)
+def test_invalid_joint_state_is_rejected_without_partial_update(
+    names: list[str],
+    positions: list[float],
+    match: str,
+) -> None:
+    simulation = DualArmKinematicModel(str(URDF_PATH))
+    valid = [0.1] * 7
+    simulation.apply_arm_state("left", ARM_JOINT_NAMES["left"], valid)
+
+    with pytest.raises(ValueError, match=match):
+        simulation.apply_arm_state("left", names, positions)
+
+    assert simulation.joint_positions("left") == pytest.approx(valid)