diff --git a/python/sot_talos_balance/test/test_dcmZmpControl_file.py b/python/sot_talos_balance/test/test_dcmZmpControl_file.py index 2e16332ea52c0589c92daf94259b7b2c3769b444..08545359dd95c21bac7a8a76d46af8c86f862d9c 100644 --- a/python/sot_talos_balance/test/test_dcmZmpControl_file.py +++ b/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)')