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feat: 发布同周期ACT控制样本

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YikaiFu-cart
2026-08-10 18:01:05 +08:00
parent 043d3d0533
commit e60d620dfe
3 changed files with 398 additions and 7 deletions
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xr_rm_teleop/test/test_joint_control.py
+4 -2
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@@ -686,9 +686,10 @@ def test_qp_failure_returns_last_known_good_target() -> None:
teleop._arm_name = "right_rm75"
teleop.get_logger = lambda: FakeLogger()
target = teleop._solve_joint_target(np.eye(4))
target, qp_success = teleop._solve_joint_target(np.eye(4))
assert target == pytest.approx([0.1] * 7)
assert not qp_success
assert teleop._last_valid_joint_target == pytest.approx([0.1] * 7)
@@ -704,9 +705,10 @@ def test_qp_success_updates_last_known_good_target() -> None:
teleop._arm_name = "left_rm75"
teleop.get_logger = lambda: FakeLogger()
target = teleop._solve_joint_target(np.eye(4))
target, qp_success = teleop._solve_joint_target(np.eye(4))
assert target == pytest.approx([0.2] * 7)
assert qp_success
assert teleop._last_valid_joint_target == pytest.approx([0.2] * 7)