Standing Phase

[Saeed-Mansouri]

Dear Dr. Caron,

I have two questions:

1. How can I change the time duration of the Standing state?
2. I should record the state of walking during the time. How can I log the status of FSM?

Thanks

[stephane-caron]

Hi @Saeed-Mansouri

1. Standing is a state of the FSM. You can transition to it from the initial state by clicking on Start standing in the GUI. The controller will stay in the Standing state until you click on Start walking; there is no pre-defined duration.

2. You can check the walking_phase variable in your controller logs:

It corresponds to the FSM state:

• -2 is Initial
• 3 is Standing
• 2 is DoubleSupport
• 1 is SingleSupport