Executed the walk ready page at startup to avoid spureous motions.

Reduced the friction on the feet.

bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h

@@ -326,6 +326,8 @@ namespace bioloid_controller_cm510
         manager_init(num_servos);
         if(exp_board_id!=-1)
           exp_board_init(exp_board_id);
+        action_set_page(31);
+        action_start_page();
         first=false;
       }
 
@@ -521,7 +523,8 @@ namespace bioloid_controller_cm510
           exp_gpio_values[17]=threshold;
         else if(frame_name==this->exp_gpio18_frame)
           exp_gpio_values[18]=threshold;
-      } 
+      }
+      std::cout << (int)exp_gpio_values[0] << "," << (int)exp_gpio_values[1] << "," << (int)exp_gpio_values[2] << "," << (int)exp_gpio_values[3] << "," << (int)exp_gpio_values[4] << "," << (int)exp_gpio_values[5] << std::endl;
     }
 
   template <class HardwareInterface>

bioloid_description/urdf/bioloid.gazebo

@@ -243,8 +243,8 @@
     <dampingFactor>0.2</dampingFactor>
     <maxVel>0.0</maxVel>
     <minDepth>0.0</minDepth>
-    <mu1>1.0</mu1>
-    <mu2>1.0</mu2>
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
     <kp>0.0</kp>
     <kd>0.0</kd>
   </gazebo>
@@ -321,8 +321,8 @@
     <dampingFactor>0.2</dampingFactor>
     <maxVel>0.0</maxVel>
     <minDepth>0.0</minDepth>
-    <mu1>1.0</mu1>
-    <mu2>1.0</mu2>
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
     <kp>0.0</kp>
     <kd>0.0</kd>
   </gazebo>

bioloid_gazebo/launch/bioloid_gazebo.launch

@@ -14,7 +14,7 @@
   </include>
 
   <!-- Spawn a robot into Gazebo -->
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model bioloid -x 0 -y 0 -z 0.32 -R 1.5707 -P 0 -Y 0"/>
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model bioloid -x 0 -y 0 -z 0.35 -R 1.5707 -P 0 -Y 0"/>
 
 </launch>