The HCM should automatically move to the walkready position on startup or when the motor power is restored.
Current behavior
The motors are with torque but still movable (like when you start ros_control_standalone.launch). The robot has to be thrown to the ground to trigger standup which gives positions to the motors.
Expected behavior
The HCM should automatically move to the walkready position on startup or when the motor power is restored.
Current behavior
The motors are with torque but still movable (like when you start
ros_control_standalone.launch). The robot has to be thrown to the ground to trigger standup which gives positions to the motors.Steps to Reproduce
ros2 launch bitbots_bringup motion_standalone.launch...
Context (Environment)