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feat: set right-B point gesture hold to one second

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This commit is contained in:
LengedZhao
2026-08-08 16:38:49 +08:00
parent 29030c0b25
commit 6bf610295b
8 changed files with 27 additions and 27 deletions
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30
tg3_local_teleop/test_gesture_toggle.py
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@@ -16,7 +16,7 @@ POINT_POSE = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
class GestureToggleTest(unittest.TestCase):
def setUp(self) -> None:
self.gesture = GestureToggle(hold_seconds=3.0, release_seconds=0.5)
self.gesture = GestureToggle(hold_seconds=1.0, release_seconds=0.5)
self.gesture.new_session()
def stable_release(self, started_at: float) -> float:
@@ -44,7 +44,7 @@ class GestureToggleTest(unittest.TestCase):
self.assertFalse(self.gesture.active)
self.assertTrue(self.gesture.freeze_right_hand)
def test_continuous_three_second_holds_toggle_once_each(self) -> None:
def test_continuous_one_second_holds_toggle_once_each(self) -> None:
released_at = self.stable_release(0.0)
self.assertFalse(
self.gesture.update(
@@ -56,7 +56,7 @@ class GestureToggleTest(unittest.TestCase):
)
self.assertFalse(
self.gesture.update(
released_at + 3.0,
released_at + 1.0,
armed=True,
input_healthy=True,
pressed=True,
@@ -64,7 +64,7 @@ class GestureToggleTest(unittest.TestCase):
)
self.assertTrue(
self.gesture.update(
released_at + 3.01,
released_at + 1.01,
armed=True,
input_healthy=True,
pressed=True,
@@ -93,7 +93,7 @@ class GestureToggleTest(unittest.TestCase):
)
self.assertTrue(
self.gesture.update(
second_release + 3.02,
second_release + 1.02,
armed=True,
input_healthy=True,
pressed=True,
@@ -115,7 +115,7 @@ class GestureToggleTest(unittest.TestCase):
self.assertEqual(self.gesture.state, "holding_start")
self.gesture.update(
released_at + 2.0,
released_at + 0.8,
armed=True,
input_healthy=True,
pressed=False,
@@ -124,14 +124,14 @@ class GestureToggleTest(unittest.TestCase):
self.assertTrue(self.gesture.require_release)
self.assertTrue(self.gesture.freeze_right_hand)
self.gesture.update(
released_at + 2.49,
released_at + 1.29,
armed=True,
input_healthy=True,
pressed=False,
)
self.assertTrue(self.gesture.require_release)
self.gesture.update(
released_at + 2.5,
released_at + 1.3,
armed=True,
input_healthy=True,
pressed=False,
@@ -148,7 +148,7 @@ class GestureToggleTest(unittest.TestCase):
pressed=True,
)
self.gesture.update(
released_at + 2.99,
released_at + 0.99,
armed=True,
input_healthy=True,
pressed=None,
@@ -156,7 +156,7 @@ class GestureToggleTest(unittest.TestCase):
self.assertTrue(self.gesture.require_release)
self.assertIsNone(self.gesture.hold_started_at)
released_at = self.stable_release(released_at + 3.0)
released_at = self.stable_release(released_at + 1.0)
self.gesture.update(
released_at + 0.01,
armed=True,
@@ -164,7 +164,7 @@ class GestureToggleTest(unittest.TestCase):
pressed=True,
)
self.gesture.update(
released_at + 2.99,
released_at + 0.99,
armed=True,
input_healthy=False,
pressed=True,
@@ -183,14 +183,14 @@ class GestureToggleTest(unittest.TestCase):
)
self.assertTrue(
self.gesture.update(
released_at + 3.02,
released_at + 1.02,
armed=True,
input_healthy=True,
pressed=True,
)
)
self.gesture.update(
released_at + 3.03,
released_at + 1.03,
armed=True,
input_healthy=False,
pressed=True,
@@ -207,7 +207,7 @@ class GestureToggleTest(unittest.TestCase):
pressed=True,
)
self.gesture.update(
released_at + 3.02,
released_at + 1.02,
armed=True,
input_healthy=True,
pressed=True,
@@ -215,7 +215,7 @@ class GestureToggleTest(unittest.TestCase):
self.assertTrue(self.gesture.active)
self.assertFalse(
self.gesture.update(
released_at + 3.03,
released_at + 1.03,
armed=False,
input_healthy=True,
pressed=True,