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jrl-umi3218 / mc_openrtm

Interface between OpenRTM and mc_rtc
BSD 2-Clause "Simplified" License
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Let MCController handle the robot initialization #21

Closed arntanguy closed 1 year ago

arntanguy commented 1 year ago

This PR fixes https://github.com/jrl-umi3218/mc_rtc/issues/284. The current implementation was overriding the robot attitude with the default one from the robot module until the controller became activated. However, the recent changes to robot initialization make use of the floating base pose (robot.posW()) during the initialization process, which in turns overrides the init_pos configuration.

mmurooka commented 1 year ago

Thank you, I have confirmed that this PR solves https://github.com/jrl-umi3218/mc_rtc/issues/284 in lipm_walking_controller/choreonoid/JVRC1.

gergondet commented 1 year ago

Thanks @arntanguy I will merge when the CI lands