test_admittance_end_effector.py

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from time import sleep
 
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    run_ft_wrist_calibration,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
run_test("appli_admittance_end_effector.py")
 
run_ft_wrist_calibration("robot.forceCalibrator")
 
input("Wait before running the test")
 
sleep(10.0)
 
# --- DISPLAY
# force_data = np.loadtxt(
# "/tmp/dg_" + evalCommandClient("robot.controller.name") + "-force.dat"
# )
# w_force_data = np.loadtxt(
# "/tmp/dg_" + evalCommandClient("robot.controller.name") + "-w_force.dat"
# )
 
# plt.ion()
 
# plt.figure()
# plt.plot(force_data[:,1],'b-')
# plt.plot(force_data[:,2],'r-')
# plt.plot(force_data[:,3],'g-')
# plt.title('force')
# plt.legend(['force x', 'force y', 'force z'])
 
# plt.figure()
# plt.plot(w_force_data[:,1],'b-')
# plt.plot(w_force_data[:,2],'r-')
# plt.plot(w_force_data[:,3],'g-')
# plt.title('w_force')
# plt.legend(['w_force x', 'w_force y', 'w_force z'])
 
input("Wait before leaving the simulation")
 
runCommandClient("dump_tracer(robot.tracer)")