Tests

Run the tests from the repository root:

julia --project=. -e 'import Pkg; Pkg.test()'

They do not need the robot.

Test set	Checks
Frame handling, motion mode, colour, gripper, servo control	Stock-ATOM-protocol frames.
Kinematics	Joint limits; forward kinematics against two get_coords readings of the stock firmware (< 12 mm); IK recovers a known pose.
Feetech packets	Packets built byte for byte against packets captured on the robot, including the stock firmware’s send_angles SYNC WRITE.
Parser robustness	Garbage, FE FE frames, bad checksums, truncated and repeated packets.
Encodings	Speed and load sign bits; degrees ↔ steps, with the encoder correction (zero at 0°, round trip).
Simulated bus	Reads, writes, “goal speed 0 = no motion”, enable_motion, missing servos.
Player	A plan plays to the end; a stuck joint stops the run and every joint holds; bad plans are refused.
Learning control	On a model plant with delay, lag and sticking, the error goes down in every iteration and halves in five.
Robot description	The generated URDFs and parameter tables are up to date (uv run tools/gen_robot.py --check; skipped without uv).
IMU calibration	On simulated poses with a known tilt, offset, mounting and accelerometer error, the gravity fit finds them again.

The simulated bus

test/simulated_bus.jl implements the transport functions for a fake bus with six servos. It keeps a register map per servo, answers PING, READ, WRITE, SYNC READ and SYNC WRITE like the real servos, and moves each servo toward its goal at its goal speed. It copies the measured behaviour:

• goal speed 0 means no motion;
• a goal write turns torque on, a mode write turns it off;
• servos can be marked as stuck, to test the tracking check.

RecordingIO is a transport that only records what is written. The packet tests use it.