test_dcm_zmp_control_ffdc.py

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"""Test CoM admittance control as described in paper"""
from sys import argv
from time import sleep
 
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    ask_for_confirmation,
    get_file_folder,
    run_ft_calibration,
    run_test,
    runCommandClient,
)
 
try:
    # Python 2
    input = raw_input  # noqa
except NameError:
    pass
 
test_folder, sot_talos_balance_folder = get_file_folder(argv)
 
run_test("appli_dcm_zmp_control_ffdc.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")
runCommandClient("robot.dcm_control.Kz.value = Kz_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")
 
if test_folder is not None:
    c = ask_for_confirmation("Execute trajectory?")
    if c:
        print("Executing the trajectory")
        runCommandClient("robot.triggerTrajGen.sin.value = 1")
    else:
        print("Not executing the trajectory")
else:
    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(0,0.3,10.0)")
        sleep(10.0)
        print("Robot is in position!")
 
        foot_on_ground = True
 
        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)")
            sleep(10.0)
            print("Foot has been raised!")
            foot_on_ground = False
            c3 = ask_for_confirmation("Put the foot back?")
            if c3:
                print("Putting the foot back...")
                runCommandClient("robot.lfTrajGen.move(2,h,10.0)")
                sleep(10.0)
                runCommandClient("robot.phaseTrajGen.set(0,0)")
                print("The foot is back in position!")
                foot_on_ground = True
            else:
                print("Not putting the foot back")
        else:
            print("Not raising the foot")
 
        if foot_on_ground:
            c4 = ask_for_confirmation("Put the robot back?")
            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 putting the robot back")
    else:
        print("Not raising the foot")
 
input("Wait before dumping the data")
 
runCommandClient("dump_tracer(robot.tracer)")
 
print("Bye!")