feat: add reset ability in mujoco

2026-07-02 14:02:44 +08:00
parent 5678cc8e69
commit 0d7e30cb7b
7 changed files with 176 additions and 5 deletions
--- a/ik_qp/src/rm75_ik/robot_backend.py
+++ b/ik_qp/src/rm75_ik/robot_backend.py
@ -38,6 +38,8 @@ class RobotBackend(Protocol):

    def set_target_tcp_pose(self, arm: ArmName, target_tcp: pin.SE3) -> None: ...

+    def reset_to_initial(self) -> None: ...
+
    def stop(self, arms: Collection[ArmName] = ("left", "right")) -> None: ...

    def close(self) -> None: ...