20 lines
562 B
Python
20 lines
562 B
Python
from xr_rm_teleop.realman_adapter import RealManAdapter
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def test_initial_pose_uses_joint_move_only() -> None:
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class FakeArm:
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def __init__(self) -> None:
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self.calls = []
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def rm_movej(self, *args):
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self.calls.append(args)
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return 0
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joints = [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
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adapter = RealManAdapter("127.0.0.1", 8080, 0, 1, initial_joint_pose=joints)
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adapter._arm = FakeArm()
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adapter._move_to_initial_pose()
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assert adapter._arm.calls == [(joints, 20, 0, 0, 1)]
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