1 """Test CoM admittance control as described in paper"""
6 from dynamic_graph.sot_talos_balance.utils.run_test_utils
import (
20 if test_folder
is not None:
23 print(
"Executing the trajectory")
26 print(
"Not executing the trajectory")
30 print(
"Putting the robot in position...")
33 print(
"Robot is in position!")
37 print(
"Executing the sinusoid...")
39 print(
"Sinusoid started!")
41 print(
"Not executing the sinusoid")
45 print(
"Stopping the robot...")
48 print(
"Putting the robot back...")
51 print(
"The robot is back in position!")
53 print(
"Not putting the robot back")
55 print(
"Not executing the sinusoid")
59 print(
"Putting the robot in position...")
62 print(
"Robot is in position!")
68 print(
"Raising the foot...")
72 print(
"Foot has been raised!")
73 foot_on_ground =
False
76 print(
"Putting the foot back...")
79 print(
"The foot is back in position!")
82 print(
"Not putting the foot back")
84 print(
"Not raising the foot")
89 print(
"Putting the robot back...")
92 print(
"The robot is back in position!")
94 print(
"Not putting the robot back")
96 print(
"Not raising the foot")
def ask_for_confirmation(text)
def run_ft_calibration(sensor_name, force=False)
def run_test(appli, verbosity=1, interactive=True)
def get_file_folder(argv, send=True)