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Use disable_torque_on_disconnect

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glannuzel
2025-08-28 17:55:30 +02:00
parent 67843db756
commit 5264feecef
3 changed files with 9 additions and 4 deletions
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tests/robots/test_reachy2.py
+6 -2
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@@ -60,11 +60,12 @@ PARAMS = [
{"with_mobile_base": False},
{"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
{"with_r_arm": False, "with_neck": False, "with_antennas": False},
{"use_external_commands": True},
{"use_external_commands": True, "disable_torque_on_disconnect": True},
{"use_external_commands": True, "with_mobile_base": False, "with_neck": False},
{"with_right_teleop_camera": False},
{"with_left_teleop_camera": False, "with_right_teleop_camera": False},
{"with_left_teleop_camera": False, "with_torso_camera": True},
{"disable_torque_on_disconnect": False},
]
@@ -191,7 +192,10 @@ def test_connect_disconnect(reachy2):
reachy2.disconnect()
assert not reachy2.is_connected
reachy2.reachy.turn_off_smoothly.assert_called_once()
if reachy2.config.disable_torque_on_disconnect:
reachy2.reachy.turn_off_smoothly.assert_called_once()
else:
reachy2.reachy.turn_off_smoothly.assert_not_called()
reachy2.reachy.disconnect.assert_called_once()