[test- AND appli- joystick...] Tests on waist orientation control

src/sot_talos_balance/test/test_joystick_dcmZmpControl_file.py

+'''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 sys import argv
+
+#from sot_talos_balance.utils.run_test_utils import ask_for_confirmation, run_ft_calibration, run_test, runCommandClient
+## INSTEAD, ISA WROTE (CHECK DIFFERENCES)
+from sot_talos_balance.utils.run_test_utils import *
+from time import sleep
+## END DIFFERENCE
+
+from dynamic_graph import * # for entity graph display
+
+## NEXT FEW LINES IRRELEVENT AS WISH TO GO ONLINE --> COMMENTED
+#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 + '"')
+## END DIFFERENCE
+
+run_test('appli_joystick_dcmZmpControl_file.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.triggerTrajGen.sin.value = 1') # NAMED DIFFERENTLY IN ISA'S SCRIPT, SEE BELOW
+    runCommandClient('robot.triggerPG.sin.value = 1')
+    writeGraph('/local/lscherrer/lscherrer/Scripts/Results/my_dyn_graph.dot')
+
+else:
+    print('Not executing the trajectory')
+
+input("Wait before dumping the data")
+
+runCommandClient('dump_tracer(robot.tracer)')
+
+## ADDED ;)
+print('Bye!')
+