[test_dcmZmpControl_file] More intermediate steps before starting trajectory

python/sot_talos_balance/test/test_dcmZmpControl_file.py

@@ -14,8 +14,7 @@ run_ft_calibration('robot.ftc')
 raw_input("Wait before running the test")
 
 # Connect ZMP reference and reset controllers
-print('Trigger trajectory')
-runCommandClient('robot.triggerTrajGen.sin.value = 1')
+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])')
@@ -23,6 +22,10 @@ runCommandClient('robot.com_admittance_control.Kp.value = Kp_adm')
 runCommandClient('robot.dcm_control.resetDcmIntegralError()')
 runCommandClient('robot.dcm_control.Ki.value = Ki_dcm')
 
+raw_input("Wait before executing the trajectory")
+print('Executing the trajectory')
+runCommandClient('robot.triggerTrajGen.sin.value = 1')
+
 raw_input("Wait before dumping the data")
 
 runCommandClient('dump_tracer(robot.tracer)')