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fixed walk startup toppling by removing startup animation

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Lucca Pirovano
2026-07-20 15:19:10 -04:00
parent 17c7da2125
commit 6a97da3b86
1 changed files with 2 additions and 8 deletions
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naowalk.py
+2 -8
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@@ -521,19 +521,13 @@ class NaoTeleop:
self.last_batt_check = now self.last_batt_check = now
def run(self): def run(self):
print("🤖 Waking up...") print("🤖 Enabling stiffness (no wakeUp stand-up)...")
self.motion.wakeUp() self.motion.setStiffnesses("Body", 1.0)
print("🚶 Going to StandInit...")
self.posture.goToPosture("StandInit", 0.5)
# Enable walk arms BEFORE forcing stiffness # Enable walk arms BEFORE forcing stiffness
print("💪 Enabling walk arms...") print("💪 Enabling walk arms...")
self.motion.setMoveArmsEnabled(True, True) self.motion.setMoveArmsEnabled(True, True)
# Give robot time to initialize motors
time.sleep(1.0)
# Force relaxed stiffness AFTER engine is active # Force relaxed stiffness AFTER engine is active
self.motion.setStiffnesses(["RArm", "LArm"], 0.3) self.motion.setStiffnesses(["RArm", "LArm"], 0.3)