sot_talos_balance.test.test_dcmComControl Namespace Reference

Variables
	com_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-com.dat")
	comDes_data
	dcm_data
	input = raw_input
	zmp_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-zmp.dat")
	zmpDes_data

Detailed Description

Test CoM admittance control without using the ZMP, with CoM computed as implemented
in reference code.

Variable Documentation

com_data

com_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-com.dat")

Definition at line 54 of file test_dcmComControl.py.

comDes_data

comDes_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.com_admittance_control.name") + "-comRef.dat"
)

Definition at line 55 of file test_dcmComControl.py.

dcm_data

dcm_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.estimator.name") + "-dcm.dat"
)

Definition at line 47 of file test_dcmComControl.py.

input

input = raw_input

Definition at line 17 of file test_dcmComControl.py.

zmp_data

zmp_data = np.loadtxt("/tmp/dg_" + evalCommandClient("robot.dynamic.name") + "-zmp.dat")

Definition at line 50 of file test_dcmComControl.py.

zmpDes_data

zmpDes_data

Initial value:

=  np.loadtxt(
    "/tmp/dg_" + evalCommandClient("robot.dcm_control.name") + "-zmpRef.dat"
)

Definition at line 51 of file test_dcmComControl.py.