Add method to reset Solo12 to initial state - Githubissues

open-dynamic-robot-initiative / robot_properties_solo

BSD 3-Clause "New" or "Revised" License

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Add method to reset Solo12 to initial state #55

Closed luator closed 1 year ago

luator commented 1 year ago

Description

The new reset_to_initial_state method gets initial positions and velocities from Solo12Config and uses it to reset the simulation.

This simplifies the setup, especially when used from within C++ code (needed for simulation driver in https://github.com/open-dynamic-robot-initiative/robot_interfaces_solo/pull/3).

How I Tested

By using it in https://github.com/open-dynamic-robot-initiative/robot_interfaces_solo/pull/3.

I fulfilled the following requirements

[x] All new code is formatted according to our style guide (for C++ run clang-format, for Python, run flake8 and fix all warnings).
[x] All new functions/classes are documented and existing documentation is updated according to changes.
[x] No commented code from testing/debugging is kept (unless there is a good reason to keep it).