Commit 20338a32 authored by Gabriele Buondonno's avatar Gabriele Buondonno

[test_dcmZmpControl_file] Partially put safety checks back

parent 2c47a9c5
......@@ -15,7 +15,7 @@ from dynamic_graph.tracer_real_time import TracerRealTime
from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio
cm_conf.CTRL_MAX = 100.0 # temporary hack
cm_conf.CTRL_MAX = 10.0 # temporary hack
robot.timeStep = robot.device.getTimeStep()
dt = robot.timeStep
......
......@@ -16,7 +16,7 @@ raw_input("Wait before running the test")
# Connect ZMP reference and reset controllers
print('Trigger trajectory')
runCommandClient('robot.triggerTrajGen.sin.value = 1')
# runCommandClient('plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)')
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')
......
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