feat: Implement RM75 joint feedback and fault recovery design

2026-07-29 19:39:12 +08:00
parent f795c06d44
commit 6d22d5600a
12 changed files with 1800 additions and 108 deletions
@@ -179,6 +179,8 @@ def test_invalid_controller_quaternion_stops_current_tick() -> None:
    teleop._last_valid_joint_target = None
    teleop._last_current_pose = None
    teleop._joint_feedback_ready = True
+    teleop._control_fault_latched = False
+    teleop._feedback_resync_attempted = False
    stopped = []
    teleop.get_clock = lambda: FakeClock()
    teleop.get_logger = lambda: FakeLogger()