test_extForceTorqueInitialization

Verify safe external-load defaults and command sampling through both attachment paths.

test_extForceTorqueInitialization.attach(effector, branch, priority=None)

Attach to the hub or an appendage, retaining ownership of the native parent objects.

test_extForceTorqueInitialization.check_loads(effector, command_scale)

Compare reported loads with the independent sum of static and sampled commands.

test_extForceTorqueInitialization.make_effector(written=True)

Configure static loads and connect all command inputs, optionally writing nonzero commands.

test_extForceTorqueInitialization.test_cached_commands_and_repeated_reset(branch)

Preserve sampled commands through attachment, hold them between reads, and clear them on Reset.

test_extForceTorqueInitialization.test_command_defaults_and_scheduling(branch, priority, written)

Apply only static loads until commands are sampled, regardless of attachment or Reset order.

test_extForceTorqueInitialization.write_commands(messages, scale)

Write scaled force and torque commands without sampling them in the effector.