script/local.py

@@ -90,9 +90,11 @@ def system_check(robot_move=True):
     if robot_move:
         if not feedback_local_safety.read():
             raise Exception("Local safety not released")
-        if not feedback_psys_safety.read():
-            raise Exception("Psys safety not released")
-        if not guiding_tool_park().read():
+        auto = not is_manual_mode()
+        if auto:
+            if not feedback_psys_safety.read():
+                raise Exception("Psys safety not released")
+        if not guiding_tool_park.read():
             raise Exception("Guiding tool not parked")
         
 def get_puck_elect_detection(segment, puck):

script/motion/tools.py

@@ -33,7 +33,8 @@ def enable_motion():
     """
     Check safety and enable arm power if in remote mode
     """
-    release_safety()    
+    release_safety()  
+    system_check(robot_move=True)  
     auto = not is_manual_mode()        
     if auto:
         if not robot.state.isNormal():

script/test/cycle_time

@@ -0,0 +1,4 @@
+start =time.time()
+unmount('A',2,5, force=True)
+mount('A',2,5, force=True, read_dm=False)
+print time.time()-start