From 4654eee0c4186539224a5b2eda99c1605b2eb7db Mon Sep 17 00:00:00 2001
From: lgv <lgv2016@qq.com>
Date: Wed, 1 Jul 2026 10:41:43 +0800
Subject: [PATCH] test:test all refactor code

---
 cmvr-es/config/manager/device_manager.pb.txt | 14 ++++++-------
 cmvr-es/test/mujoco_manual_ui_test.cpp       | 22 +++++++++++---------
 2 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt
index 5a3ff6be..2c4ddc4f 100644
--- a/cmvr-es/config/manager/device_manager.pb.txt
+++ b/cmvr-es/config/manager/device_manager.pb.txt
@@ -7,28 +7,28 @@ device_manager {
     id: "mujoco_world"
     type: DEVICE_TYPE_MUJOCO_WORLD
     config_file: "devices/mujoco/mujoco_world.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "mujoco_motors"
     type: DEVICE_TYPE_MOTOR_SYSTEM
     config_file: "devices/motor/mujoco_motors.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "mujoco_right_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/arm_mujoco_qp.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "mujoco_viewer"
     type: DEVICE_TYPE_MUJOCO_VIEWER
     config_file: "devices/mujoco/mujoco_viewer.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -49,7 +49,7 @@ device_manager {
       id: "cam5"
       type: DEVICE_TYPE_CAMERA
       config_file: "devices/camera/camera.pb.txt"
-      enable: true
+      enable: false
     }
 
 
@@ -71,14 +71,14 @@ device_manager {
     id: "ti5_motors"
     type: DEVICE_TYPE_MOTOR_SYSTEM
     config_file: "devices/motor/ti5_motors.pb.txt"
-    enable: false
+    enable: true
   }
 
   devices {
     id: "right_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/arm.pb.txt"
-    enable: false
+    enable: true
   }
 
   devices {
diff --git a/cmvr-es/test/mujoco_manual_ui_test.cpp b/cmvr-es/test/mujoco_manual_ui_test.cpp
index a0773538..bbdf21d5 100644
--- a/cmvr-es/test/mujoco_manual_ui_test.cpp
+++ b/cmvr-es/test/mujoco_manual_ui_test.cpp
@@ -67,8 +67,8 @@ ManualUiRunResult runManualUiTest(
     std::vector<double> q_target = {0, 1, 1.6, 1.6, -2.5, 0.12, 0.12};
 
     cmvr::device::MotionOptions joint_options;
-    joint_options.velocity = 5.0;
-    joint_options.acceleration = 15.0;
+    joint_options.velocity = 1.0;
+    joint_options.acceleration = 5.0;
     joint_options.joint_velocity_limits.assign(7, 2.5);
 
     CMVR_LOG(INFO) << "[MujocoManualUiTest] moveJ " << arm_id;
@@ -84,13 +84,13 @@ ManualUiRunResult runManualUiTest(
     std::this_thread::sleep_for(std::chrono::seconds(1));
 
     auto move_l_target = arm->getTcpPose(cmvr::device::FrameType::Base);
-    move_l_target.z += 0.05;
-    // move_l_target.ry += 0.5;
+    // move_l_target.x += -0.1;
+    move_l_target.rz += -0.2;
 
     cmvr::device::MotionOptions cartesian_options;
-    cartesian_options.velocity = 0.01;
-    cartesian_options.acceleration = 10.0;
-    cartesian_options.jerk = 50.0;
+    cartesian_options.velocity = 0.1;
+    cartesian_options.acceleration = 5.0;
+    cartesian_options.jerk = 10.0;
 
     CMVR_LOG(INFO) << "[MujocoManualUiTest] moveL +X";
     result = arm->moveL(move_l_target, cartesian_options, cmvr::device::FrameType::Base);
@@ -172,6 +172,8 @@ ManualUiRunResult runManualUiTest(
     // }
     // (void)arm->stopL(10);
 
+    // std::this_thread::sleep_for(std::chrono::seconds(1000));
+
     return {};
 }
 
@@ -217,9 +219,9 @@ TEST(MujocoManualUiTest, RunMujocoArm)
 
 TEST(MujocoManualUiTest, RunRealArm)
 {
-    if (!shouldRunRealArmTest()) {
-        GTEST_SKIP() << "Set CMVR_RUN_REAL_ARM_TEST=1 to run the real arm manual UI test.";
-    }
+    // if (!shouldRunRealArmTest()) {
+    //     GTEST_SKIP() << "Set CMVR_RUN_REAL_ARM_TEST=1 to run the real arm manual UI test.";
+    // }
 
     cmvr::Runtime runtime;
     ASSERT_TRUE(runtime.init(manualConfigPath()));