docs: dual standby poses (A/B) + REMOTE damped init#12
Merged
Conversation
Reflect humanoid_control#15 across the site: STANDBY is now two StandbyController instances (standby_controller_a/_b, Pose A/B) with independent pose/policy selection; the gate topic /standby_controller/state becomes per-pose /standby_controller_{a,b}/state; the mode/load service splits into mode/load_a + mode/load_b; joy params load_combo_{locomotion,remote} become load_combo_{a,b}. Also corrects REMOTE's passive stale-command policy from fully-limp to a damped hold (kP=0, high kD, like DAMPING) and documents the new damping/damping_scalar params. Plugin class and standby_controller.cpp references left unchanged.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Documentation-site companion to
humanoid_control#15.What changed in the code (that these docs now reflect)
StandbyControllerinstances —standby_controller_a(Pose A,L1+A) andstandby_controller_b(Pose B,L1+B) — same plugin, different YAML poses. Pose and policy are independent: from either pose you can START either policy (R1+Alocomotion /R1+Bremote). No direct A↔B switch (LOAD only from DAMPING). Both reportmode = STANDBY;controller_namedistinguishes them.remote_policy_controller'sstale_command_policy: "passive"now means a damped hold (kP=0, high kD =damping_scalardefault 6.0, holding live position, like DAMPING) — applied on entering REMOTE before the first command and on stale dropouts. It no longer goes fully limp.Renames propagated across the site
/standby_controller/state→/standby_controller_a/state+/standby_controller_b/state(one per pose)./humanoid_control/mode/load→…/load_a+…/load_b.joy.load_combo_{locomotion,remote}→joy.load_combo_{a,b}.LOAD ignored…→LOAD_A ignored…/LOAD_B ignored….Files (21)
Concepts (
five_mode_fsm,architecture,safety_pipeline), reference (controllers,quick_reference,topics_services,cli_tools,messages,packages,troubleshooting), how-to (switch_controllers_manually,recover_from_fault,promote_python_to_cpp,record_experiments,first_real_bringup,talk_to_humanoid_control_from_python,add_new_joint), tutorials (mujoco_fsm_walk,tracking_policy,run_gravity_compensation), getting-started (lite_101).The
humanoid_control/StandbyControllerplugin class andstandby_controller.cppsource references are intentionally unchanged (only spawned-instance names changed). No local build was run (no Node locally) — relying on CI. No MDX-unsafe syntax introduced.🤖 Generated with Claude Code