Method zero_torque_state

scripts/unitree_deploy/deploy_real.py:126–133

Hold zero torque until the start signal is received.

(self)

        logger.info("Successfully connected to the robot.")

    def zero_torque_state(self):
        """Hold zero torque until the start signal is received."""
        logger.info("Enter zero torque state.")
        logger.info("Waiting for the start signal...")
        while self.remote_controller.button[KeyMap.start] != 1:
            create_zero_cmd(self.low_cmd)
            self.send_cmd(self.low_cmd)
            time.sleep(self.config.control_dt)

    def move_to_default_pos(self):
        """Move the robot to its default posture smoothly."""