test_dcmZmpFootControl.py

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"""Test CoM admittance control as described in paper."""
 
from time import sleep
 
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    ask_for_confirmation,
    run_ft_calibration,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
run_test("appli_dcmZmpFootControl.py")
 
run_ft_calibration("robot.ftc")
input("Wait before running the test")
 
# Connect ZMP reference and reset controllers
print("Set controller")
runCommandClient("plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)")
runCommandClient(
    "plug(robot.distribute.emergencyStop,robot.cm.emergencyStop_distribute)"
)
runCommandClient("plug(robot.distribute.zmpRef,robot.com_admittance_control.zmpDes)")
runCommandClient(
    "robot.com_admittance_control.setState(robot.wp.comDes.value,[0.0,0.0,0.0])"
)
runCommandClient("robot.com_admittance_control.Kp.value = Kp_adm")
runCommandClient("robot.dcm_control.resetDcmIntegralError()")
runCommandClient("robot.dcm_control.Ki.value = Ki_dcm")
 
input("Wait before activating foot force difference control")
runCommandClient("robot.ffdc.dfzAdmittance.value = dfzAdmittance")
runCommandClient("robot.ffdc.vdcFrequency.value = vdcFrequency")
runCommandClient("robot.ffdc.vdcDamping.value = vdcDamping")
 
c = ask_for_confirmation("Execute a sinusoid?")
if c:
    print("Putting the robot in position...")
    runCommandClient("robot.comTrajGen.move(1,-0.025,1.0)")
    sleep(1.0)
    print("Robot is in position!")
 
    c2 = ask_for_confirmation("Confirm executing the sinusoid?")
    if c2:
        print("Executing the sinusoid...")
        runCommandClient("robot.comTrajGen.startSinusoid(1,0.025,2.0)")
        print("Sinusoid started!")
    else:
        print("Not executing the sinusoid")
 
    c3 = ask_for_confirmation("Put the robot back?")
    if c3:
        print("Stopping the robot...")
        runCommandClient("robot.comTrajGen.stop(1)")
        sleep(5.0)
        print("Putting the robot back...")
        runCommandClient("robot.comTrajGen.move(1,0.0,1.0)")
        sleep(1.0)
        print("The robot is back in position!")
    else:
        print("Not putting the robot back")
else:
    print("Not executing the sinusoid")
 
c = ask_for_confirmation("Raise the foot?")
if c:
    print("Putting the robot in position...")
    runCommandClient("robot.comTrajGen.move(1,-0.08,10.0)")
    runCommandClient("robot.rhoTrajGen.move(0,0.4,10.0)")
    sleep(10.0)
    print("Robot is in position!")
 
    c2 = ask_for_confirmation("Confirm raising the foot?")
    if c2:
        print("Raising the foot...")
        runCommandClient("robot.phaseTrajGen.set(0,-1)")
        runCommandClient("h = robot.dynamic.LF.value[2][3]")
        runCommandClient("robot.lfTrajGen.move(2,h+0.05,10.0)")
        runCommandClient("robot.contactLF.gain.setConstant(300)")
        sleep(10.0)
        print("Foot has been raised!")
        c3 = ask_for_confirmation("Put the foot back?")
    else:
        print("Not raising the foot")
        c3 = False
 
    if c3:
        print("Putting the foot back...")
        runCommandClient("robot.lfTrajGen.move(2,h,10.0)")
        sleep(10.0)
        runCommandClient("robot.contactLF.gain.setConstant(1)")
        runCommandClient("robot.phaseTrajGen.set(0,0)")
        print("The foot is back in position!")
    else:
        print("Not putting the foot back")
 
    if c3 or not c2:
        c4 = ask_for_confirmation("Put the robot back?")
    else:
        c4 = False
 
    if c4:
        print("Putting the robot back...")
        runCommandClient("robot.comTrajGen.move(1,0.0,10.0)")
        runCommandClient("robot.rhoTrajGen.move(0,0.5,10.0)")
        sleep(10.0)
        print("The robot is back in position!")
else:
    print("Not raising the foot")
 
# input("Wait before dumping the data")
 
# runCommandClient('dump_tracer(robot.tracer)')