test_joystick_dcmZmpControl.py

Go to the documentation of this file.

"""Test CoM admittance control as described in paper,
with a Reference Velocity provided"""
 
# File adapted from appli_dcmZmpControl_file.py and
# appli_dcmZmpControl_online_ISA.py written by Isabelle Maroger
# ALL THINGS ADDED OR CHANGED ARE COMMENTED IN CAPITAL LETTERS
 
# from dynamic_graph import *  # for entity graph display
from dynamic_graph.sot_talos_balance.utils.run_test_utils import (
    ask_for_confirmation,
    run_ft_calibration,
    run_test,
    runCommandClient,
)
 
run_test("appli_joystick_dcmZmpControl.py")
 
run_ft_calibration("robot.ftc")
input("Wait before running the test")
 
# Connect ZMP reference and reset controllers
print("Connect ZMP reference")
runCommandClient("plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)")
runCommandClient("plug(robot.dcm_control.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")
 
c = ask_for_confirmation("Execute trajectory?")
if c:
    print("Executing the trajectory")
    runCommandClient("robot.triggerPG.sin.value = 1")
 
else:
    print("Not executing the trajectory")
 
input("Wait before dumping the data")
 
runCommandClient("dump_tracer(robot.tracer)")
 
print("Bye!")