fix: cartesian parti bootup

tum-robotics · Jun 13, 2024 · 36a60a9 · 36a60a9
1 parent 454106d
commit 36a60a9
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Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/src/garmi_parti/launchers/parti_teleop.py b/src/garmi_parti/launchers/parti_teleop.py
@@ -83,12 +83,7 @@ def main() -> None:
     joysticks.start_reading()
 
     cli = client.Client(leader, args.host, args.port)
-    leader.left.arm.stop_controller()
-    leader.right.arm.stop_controller()
     cli.pause()
-    input("Press enter to start PARTI")
-    leader.left.arm.start_controller(leader.left.controller)
-    leader.right.arm.start_controller(leader.right.controller)
     joysticks.set_client(cli)
 
     logger = interfaces.TwoArmLogger(leader)

diff --git a/src/garmi_parti/parti/__init__.py b/src/garmi_parti/parti/__init__.py
@@ -84,8 +84,8 @@ def __init__(
     ) -> None:
         Tickable.__init__(self, window_size, interval, logger)  # type: ignore[call-arg]
 
-        self.paused_left = False
-        self.paused_right = False
+        self.paused_left = True
+        self.paused_right = True
 
         q_idle = containers.TwoArmJointPositions(left=Q_IDLE_LEFT, right=Q_IDLE_RIGHT)
         q_teleop = containers.TwoArmJointPositions(