From c1bc56fe096cd0f6226a433f11d6367f2cb0e2bd Mon Sep 17 00:00:00 2001 From: YikaiFu-cart Date: Tue, 4 Aug 2026 13:33:06 +0800 Subject: [PATCH] =?UTF-8?q?test:=20=E8=A1=A5=E5=85=85=E5=85=B3=E8=8A=82?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=8F=91=E5=B8=83=E5=A4=B9=E5=85=B7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- xr_rm_teleop/test/test_orientation_control.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/xr_rm_teleop/test/test_orientation_control.py b/xr_rm_teleop/test/test_orientation_control.py index 673fc72..95df1e2 100644 --- a/xr_rm_teleop/test/test_orientation_control.py +++ b/xr_rm_teleop/test/test_orientation_control.py @@ -4,6 +4,7 @@ from types import SimpleNamespace import numpy as np import pytest +from builtin_interfaces.msg import Time as TimeMsg from xr_rm_teleop.realman_adapter import JointStateSnapshot from xr_rm_teleop.single_arm_velocity_teleop import ( @@ -148,6 +149,9 @@ def test_invalid_controller_quaternion_stops_current_tick() -> None: del other return SimpleNamespace(nanoseconds=0) + def to_msg(self): + return TimeMsg() + class FakeClock: def now(self): return FakeTime() @@ -174,7 +178,11 @@ def test_invalid_controller_quaternion_stops_current_tick() -> None: time.monotonic(), ) ) - teleop._ik_solver = SimpleNamespace(update_joint_state=lambda joints: np.eye(4)) + teleop._ik_solver = SimpleNamespace( + joint_names=[f"omnipic_joint_{index}" for index in range(1, 8)], + update_joint_state=lambda joints: np.eye(4), + ) + teleop._joint_state_pub = SimpleNamespace(publish=lambda message: None) teleop._active = False teleop._last_valid_joint_target = None teleop._last_current_pose = None