Adapt for animation execution

Signed-off-by: Florian Vahl <florian@flova.de>

Author: Flova

src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py

@@ -46,7 +46,7 @@ def __init__(self):
         self.goals_to_abort: set[UUID] = set()
 
         # Get robot type and create resource manager
-        self.declare_parameter("robot_type", "wolfgang")
+        self.declare_parameter("robot_type", "piplus")
         self.resource_manager = ResourceManager(self.get_parameter("robot_type").value)
 
         # Load all animations into memory

src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd

@@ -7,7 +7,7 @@
 -->HCM
 $StartHCM
     START_UP --> $Simulation
-        YES --> @RobotStateStartup, @PlayAnimationStartup, @PlayAnimationWalkReady
+        YES --> @RobotStateStartup, @PlayAnimationInit, @PlayAnimationWalkReady
         NO --> #INIT_PATTERN
     RUNNING --> $CheckMotors
         MOTORS_NOT_STARTED --> @RobotStateStartup, @Wait

src/bitbots_motion/bitbots_hcm/launch/hcm.launch

@@ -16,8 +16,4 @@
         </node>
     </group>
 
-    <group unless="$(var sim)">
-        <node pkg="bitbots_hcm" exec="led.py" />
-    </group>
-
 </launch>

src/bitbots_robot/piplus_animations/animations/misc/init.json

@@ -3,29 +3,31 @@
     "name": "init",
     "keyframes": [
         {
-            "duration": 1.0,
+            "duration": 2.0,
             "pause": 0.0,
             "goals": {
-                "LShoulderPitch": 0.0,
-                "LShoulderRoll": 0.0,
-                "RShoulderRoll": 0.0,
-                "HeadTilt": 0.0,
-                "LKnee": 0.0,
-                "RHipYaw": 0.0,
-                "LAnklePitch": 0.0,
-                "RKnee": 0.0,
-                "RAnkleRoll": 0.0,
-                "RAnklePitch": 0.0,
-                "LHipPitch": 0.0,
-                "LHipYaw": 0.0,
-                "LHipRoll": 0.0,
-                "RHipRoll": 0.0,
-                "LAnkleRoll": 0.0,
-                "LElbow": 0.0,
-                "RElbow": 0.0,
-                "RHipPitch": 0.0,
-                "HeadPan": 0.0,
-                "RShoulderPitch": 0.0
+                "l_shoulder_pitch_joint": 0.0,
+                "l_shoulder_roll_joint": 0.0,
+                "l_upper_arm_joint": 0.0,
+                "l_elbow_joint": 0.0,
+                "r_shoulder_pitch_joint": 0.0,
+                "r_shoulder_roll_joint": 0.0,
+                "r_upper_arm_joint": 0.0,
+                "r_elbow_joint": 0.0,
+                "l_hip_pitch_joint": 0.0,
+                "l_hip_roll_joint": 0.0,
+                "l_thigh_joint": 0.0,
+                "l_calf_joint": 0.0,
+                "l_ankle_pitch_joint": 0.0,
+                "l_ankle_roll_joint": 0.0,
+                "r_hip_pitch_joint": 0.0,
+                "r_hip_roll_joint": 0.0,
+                "r_thigh_joint": 0.0,
+                "r_calf_joint": 0.0,
+                "r_ankle_pitch_joint": 0.0,
+                "r_ankle_roll_joint": 0.0,
+                "head_yaw_joint": 0.0,
+                "head_pitch_joint": 0.0
             }
         }
     ]