Commit 47705d30 authored by Olivier Stasse's avatar Olivier Stasse

[test_dcmZmpControl_file] New gains

parent b798d0c0
......@@ -197,7 +197,7 @@ robot.zmp_estimator = zmp_estimator
# -------------------------- ADMITTANCE CONTROL --------------------------
# --- DCM controller
Kp_dcm = [5.0,5.0,5.0]
Kp_dcm = [8.0]*3
Ki_dcm = [0.0,0.0,0.0] # zero (to be set later)
gamma_dcm = 0.2
......@@ -235,7 +235,7 @@ com_admittance_control.setState(robot.wp.comDes.value,[0.0,0.0,0.0])
robot.com_admittance_control = com_admittance_control
Kp_adm = [20.0,10.0,0.0] # this value is employed later
Kp_adm = [15.0,15.0,0.0] # this value is employed later
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot')
......
......@@ -3,7 +3,7 @@ from sot_talos_balance.utils.run_test_utils import *
from time import sleep
from sys import argv
test_folder = sys.argv[1] if len(argv)>1 else 'TestKajita2003WalkingOnSpot64'
test_folder = sys.argv[1] if len(argv)>1 else 'TestKajita2003WalkingOnSpot64/DSP20SSP780'
print('Using folder ' + test_folder)
runCommandClient('test_folder = "' + test_folder + '"')
......
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