Currently, we have one test testing trajectory forwarding. This sends a trajectory for execution that is using the driver's default forwarding method which is spline interpolation. This has been fixed in #721 which revealed a couple of options we should also test for:
Use the movej-based trajectory execution
Use a quintic spline for trajectory execution
Check that sending in a position-only spline interpolation will fail
Feature summary
Currently, we have one test testing trajectory forwarding. This sends a trajectory for execution that is using the driver's default forwarding method which is spline interpolation. This has been fixed in #721 which revealed a couple of options we should also test for: