| CCameraTest | Check if a camera is publishing images at desired framerate |
| CCartesianControlReachingToleranceTest | This test verifies the point-to-point cartesian movement |
| CCartesianControlSimpleP2pMovementTest | This test verifies the point-to-point cartesian movement |
| CControlModes | The test checks if the joint is able to go in all the available control/interaction modes and if transition between the states is correct |
| CDemoRedBallTest | This test verifies the point-to-point cartesian movement |
| CExampleTest | This is just an example test, use it as a reference to implement new tests |
| CFtSensorTest | Check if a FT sensor port is correctly publishing a vector with 6 values |
| CGazeControlSimpleLookTest | This test verifies the simple gaze movements |
| CImu | The purpose of this test is to evaluate the accuracy of the IMU Euler angles measurements |
| CJointLimits | Check if the software joint limits are properly set |
| CMotorEncodersSignCheck | This tests checks if the motor encoder readings increase when positive pwm is applayed to motor |
| CMotorTest | Check IPositionControl and IEncoders |
| CMovementReferencesTest | Check IPositionControl, IVelocityControl, IPWMControl, IPositionDirect |
| COpticalEncodersConsistency | This tests checks if the motor encoder reading are consistent with the joint encoder readings |
| COpticalEncodersDrift | This tests checks if the relative encoders measurements are consistent over time, by performing cyclic movements between two reference positions (min and max) |
| CPositionControlAccuracy | This tests checks the a position PID response, sending a step reference signal with a positionDirect command |
| CPositionControlAccuracyExernalPid | This tests checks the response of the system to a position step, sending directly PWM commands to a joint |
| CPositionDirect | This tests checks the positionDirect control, sending a sinusoidal reference signal, with parametric frequency and amplitude |
| CSensorsDuplicateReadings | Check if a yarp port is correctly publishing unique values at each update |
| CSkinWrapperTest | This test verifies the functionalities of skinWrapper after the removal of analogServer from icub-main |
| CTorqueControlAccuracy | This tests checks the a torque PID response, sending a step reference signal with a setRefTorque command |
| CTorqueControlGravityConsistency | The test is supposed to be run with the iCub fixed to the pole, with the pole leveled with respect to the gravity (please check this with a level before running the test) and with the wholeBodyDynamics(Tree) running |
