test_dcm_estimator.py

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from time import sleep
 
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    run_ft_calibration,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
run_test("appli_dcm_estimator.py")
 
run_ft_calibration("robot.ftc")
input("Wait before running the test")
 
# plug ZMP emergency signal
runCommandClient("plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)")
sleep(2.0)
runCommandClient("robot.comTrajGen.move(1,-0.025,1.0)")
sleep(20.0)
runCommandClient("robot.comTrajGen.startSinusoid(1,0.05,2.0)")
sleep(20.0)
 
input("Wait before leaving the simulation")