test_feet_admittance.py

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"""Test feet admittance control"""
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_feet_admittance.py")
 
run_ft_calibration("robot.ftc")
input("Wait before running the test")
 
print("Set saturation value")
runCommandClient("robot.admBF_dqSaturation.sin.value = [0.0, 0.0, 0.01, 0.0, 0.0, 0.0]")
 
input("Wait before dumping the data")
 
runCommandClient("dump_tracer(robot.tracer)")