Add lockbase and reset feature - #25
Merged
Merged
Conversation
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
The simulator can now lock the base of the robot (in world frame) at start, unlocking it (and letting the robot free) once the /unlock_base topic has received a message.
A /reset topic allows for fully resetting the simulation (instead of having to restart the whole script). The base will have to be re-unlock after calling reset.
An unlock_base param can be passed to the simulator to determine if the base is unlocked by default (at start and after reboot) or if the topic has to be called every time.
Motivation
When working on the real humanoid robot (next PR), the robot is first hanging from the ceiling, being position controlled to a start configuration, then placed and the floor and the support are realease. Locking/unlocking the base allow for similar behavior in the simulator (locking the base = have the robot supsended in the air)