from sys import argv from time import sleep from sot_talos_balance.utils.run_test_utils import (ask_for_confirmation, get_file_folder, run_ft_calibration, run_test, runCommandClient) test_folder, sot_talos_balance_folder = get_file_folder(argv) run_test('appli_no_admittance.py') run_ft_calibration('robot.ftc') 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:
from time import sleep from 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) use_distribute = ask_for_confirmation("Use output of force distribution?") print(("Using" if use_distribute else "Not using") + " output of force distribution") run_test('appli_dcm_zmp_control_distribute.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)') if use_distribute: runCommandClient( 'plug(robot.distribute.emergencyStop,robot.cm.emergencyStop_distribute)'
'''Test CoM admittance control as described in paper, with pre-loaded movements''' from sys import argv from sot_talos_balance.utils.run_test_utils import ask_for_confirmation, run_test, runCommandClient try: # Python 2 input = raw_input # noqa except NameError: pass test_folder = argv[1] if len(argv) > 1 else 'TestKajita2003WalkingOnSpot64/DSP20SSP780' print('Using folder ' + test_folder) runCommandClient('test_folder = "' + test_folder + '"') run_test('appli_base_estimator.py') c = ask_for_confirmation('Execute trajectory?') if c: print('Executing the trajectory') runCommandClient('robot.triggerTrajGen.sin.value = 1') else: print('Not executing the trajectory') input("Wait before dumping the data")
from time import sleep from sot_talos_balance.utils.run_test_utils import ask_for_confirmation, evalCommandClient, run_test, runCommandClient run_test('appli_simple_ankle_admittance.py') sleep(1.0) RightPitchJoint = 10 LeftPitchJoint = 4 RightRollJoint = 11 LeftRollJoint = 5 c = ask_for_confirmation( "Do you want to use the current torques values as reference?") if c: runCommandClient( 'robot.rightPitchAnkleController.tauDes.value = robot.device.ptorque.value[RightPitchJoint]' ) runCommandClient( 'robot.leftPitchAnkleController.tauDes.value = robot.device.ptorque.value[LeftPitchJoint]' ) runCommandClient( 'robot.rightRollAnkleController.tauDes.value = robot.device.ptorque.value[RightRollJoint]' ) runCommandClient( 'robot.leftRollAnkleController.tauDes.value = robot.device.ptorque.value[LeftRollJoint]' ) print("Setting desired torques with current values") else:
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('robot.pitchController.kSum.value = [0.0]') runCommandClient('robot.pitchController.kDiff.value = [0.0]') runCommandClient('robot.rollController.kSum.value = [0.0]') runCommandClient('robot.rollController.kDiff.value = [0.0]') runCommandClient('robot.dcm_control.resetDcmIntegralError()') runCommandClient('robot.dcm_control.Ki.value = Ki_dcm') 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?")