from xr_rm_teleop.realman_adapter import RealManAdapter


def test_initial_pose_uses_joint_move_only() -> None:
    class FakeArm:
        def __init__(self) -> None:
            self.calls = []

        def rm_movej(self, *args):
            self.calls.append(args)
            return 0

    joints = [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
    adapter = RealManAdapter("127.0.0.1", 8080, 0, 1, initial_joint_pose=joints)
    adapter._arm = FakeArm()

    adapter._move_to_initial_pose()

    assert adapter._arm.calls == [(joints, 20, 0, 0, 1)]