Commit 68bfeb5f authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[doc] Run with file

parent cf45b995
......@@ -41,9 +41,57 @@ cd python/sot_talos_balance/test
Then, you can just run the chosen test. For instance:
```
python test_dcmZmpControl_file.py
python test_dcmZmpControl_estimator.py
```
## Run the test with your own recorded movements
The test that needs to be run in order o execute your own prerecorded movement is
```
python test_dcmZmpControl_file.py [testfolder]
```
where `[testfolder]` contains the following files:
```
CoM.dat
LeftFoot.dat
RightFoot.dat
WaistOrientation.dat
optionally, ZMP.dat (if not given, it is computed from the CoM)
```
where the CoM and the ZMP are in the following format:
```
[position3D velocity3D acceleration3D]
```
the feet are
```
[position6D velocity6D acceleration6D]
```
and the waist
```
[orientation3D angular_velocity3D angular_acceleration3D]
```
Pay attention that the lines of each file should *not* have trailing whitespace.
Actually, the velocity and acceleration information are only really needed for the CoM. For all other quantities, these values are not really employed, but they are needed due to how nd-trajectory-generator is implemented. You can set this quantities arbitrarily to zero.
Folder `[testfolder]` needs to be installed in
```
/opt/openrobots/share/sot_talos_balance/data
```
If you want to add a new motion, you either put it there or in
```
[sot-talos-balance-repo]/ros/sot_talos_balance/data
```
This way, when executing (see <a href="md_doc_installation.html">the installation page</a>)
```
make install
```
it will automatically be copied to the install location.
## Interacting with the dynamic graph
If you want to dynamically interact with the graph
......
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