From 6a97da3b8606610960290292a7485a18e0b1def8 Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Mon, 20 Jul 2026 15:19:10 -0400
Subject: [PATCH] fixed walk startup toppling by removing startup animation

---
 naowalk.py | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index 931be4e..42869ce 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -521,19 +521,13 @@ class NaoTeleop:
             self.last_batt_check = now
 
     def run(self):
-        print("🤖 Waking up...")
-        self.motion.wakeUp()
-        
-        print("🚶 Going to StandInit...")
-        self.posture.goToPosture("StandInit", 0.5)
+        print("🤖 Enabling stiffness (no wakeUp stand-up)...")
+        self.motion.setStiffnesses("Body", 1.0)
         
         # Enable walk arms BEFORE forcing stiffness
         print("💪 Enabling walk arms...")
         self.motion.setMoveArmsEnabled(True, True)
         
-        # Give robot time to initialize motors
-        time.sleep(1.0)
-        
         # Force relaxed stiffness AFTER engine is active
         self.motion.setStiffnesses(["RArm", "LArm"], 0.3)