feat: 优化双臂采摘QP稳健性

xr_rm_teleop/test/test_joint_control.py

@@ -11,6 +11,7 @@ from xr_rm_teleop.single_arm_velocity_teleop import (
     SingleArmVelocityTeleop,
     _make_transform,
     _so3_exp,
+    _so3_log,
 )
 
 
@@ -610,7 +611,7 @@ def test_first_feedback_initializes_last_valid_target_without_solving() -> None:
     assert teleop._ik_solver.solve_calls == 0
 
 
-def test_qp_failure_returns_last_known_good_target() -> None:
+def test_qp_failure_returns_none_and_keeps_last_known_good_target() -> None:
     class FailingSolver:
         def solve(self, target):
             del target
@@ -624,11 +625,11 @@ def test_qp_failure_returns_last_known_good_target() -> None:
 
     target = teleop._solve_joint_target(np.eye(4))
 
-    assert target == pytest.approx([0.1] * 7)
+    assert target is None
     assert teleop._last_valid_joint_target == pytest.approx([0.1] * 7)
 
 
-def test_qp_success_updates_last_known_good_target() -> None:
+def test_qp_success_waits_for_send_before_updating_last_known_good_target() -> None:
     class SuccessfulSolver:
         def solve(self, target):
             del target
@@ -643,7 +644,54 @@ def test_qp_success_updates_last_known_good_target() -> None:
     target = teleop._solve_joint_target(np.eye(4))
 
     assert target == pytest.approx([0.2] * 7)
-    assert teleop._last_valid_joint_target == pytest.approx([0.2] * 7)
+    assert teleop._last_valid_joint_target == pytest.approx([0.1] * 7)
+
+
+def test_target_filters_do_not_commit_candidate_state() -> None:
+    teleop = object.__new__(SingleArmVelocityTeleop)
+    teleop._filtered_target = [0.0, 0.0, 0.0]
+    teleop._filtered_orientation_target = np.eye(3)
+    teleop._target_filter_alpha = 0.5
+    teleop._target_filter_alpha_fast = 0.5
+    teleop._target_filter_fast_threshold_m = 1.0
+    teleop._orientation_filter_alpha = 0.5
+
+    position = teleop._filter_target([0.2, 0.0, 0.0])
+    orientation = teleop._filter_orientation_target(
+        _so3_exp(np.asarray([0.0, 0.0, 0.2]))
+    )
+
+    assert position == pytest.approx([0.1, 0.0, 0.0])
+    assert teleop._filtered_target == pytest.approx([0.0, 0.0, 0.0])
+    assert teleop._filtered_orientation_target == pytest.approx(np.eye(3))
+    assert np.linalg.norm(_so3_log(orientation)) == pytest.approx(0.1)
+
+
+def test_failed_send_does_not_commit_cartesian_reference_state() -> None:
+    teleop = object.__new__(SingleArmVelocityTeleop)
+    teleop._last_valid_joint_target = [0.1] * 7
+    teleop._filtered_target = [0.2, 0.0, 0.0]
+    teleop._filtered_orientation_target = np.eye(3)
+    teleop._last_sent_target = [0.2, 0.0, 0.0]
+    teleop._last_sent_orientation = np.eye(3)
+    teleop._last_command_time = FakeTime()
+    teleop._send_joint_target = lambda joints: False
+
+    sent = teleop._send_and_commit_joint_target(
+        [0.3] * 7,
+        [0.3, 0.0, 0.0],
+        _so3_exp(np.asarray([0.0, 0.0, 0.1])),
+        [0.3, 0.0, 0.0],
+        _so3_exp(np.asarray([0.0, 0.0, 0.1])),
+        FakeTime(),
+    )
+
+    assert not sent
+    assert teleop._last_valid_joint_target == pytest.approx([0.1] * 7)
+    assert teleop._filtered_target == pytest.approx([0.2, 0.0, 0.0])
+    assert teleop._filtered_orientation_target == pytest.approx(np.eye(3))
+    assert teleop._last_sent_target == pytest.approx([0.2, 0.0, 0.0])
+    assert teleop._last_sent_orientation == pytest.approx(np.eye(3))
 
 
 def test_enter_active_control_initializes_se3_orientation_state() -> None: