feat(experement): verify all twenty reference runs and finalize QA

src/iiwa_experement/test/test_motion.py

@@ -102,6 +102,7 @@ def goal():
 def make_adapter(
     *,
     action=None,
+    joints=None,
     named=None,
     stop=None,
     fresh=True,
@@ -117,6 +118,7 @@ def make_adapter(
         node=None,
         geometry=g,
         action_client=action,
+        joints_client=joints,
         named_client=named,
         stop_client=stop,
         tf_buffer=object(),
@@ -207,6 +209,16 @@ def test_actual_pose_out_of_tolerance_stops_the_robot():
     assert stop.calls == 1
 
 
+def test_named_motion_uses_the_joint_action_when_available():
+    joints = FakeActionClient()
+    adapter, action, _, _ = make_adapter(joints=joints)
+    result = adapter.move_named('home', speed=0.2)
+    assert result.success
+    assert len(joints.requests) == 1
+    assert list(joints.requests[0].joints) == [0.0] * 7
+    assert joints.requests[0].speed == pytest.approx(0.2)
+
+
 def test_named_motion_uses_the_existing_service():
     adapter, _, named, _ = make_adapter()
     result = adapter.move_named('home', speed=0.2)