## Ant robot resetting to initial state

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faisalkhan
Posts: 14
Joined: 19 Sep 2018, 15:53

### Ant robot resetting to initial state

what is the proper way of loading and unloading model. i want to reset robot to it initial configuration e.g. position,joint angles.Can you provide the script to do this as i tried using loadmodel and removemodel function but failed.

coppelia
Posts: 7926
Joined: 14 Dec 2012, 00:25

### Re: Ant robot resetting to initial state

Hello,

what do you mean with
but failed
?
Normally you can load a model also during simulation. The only thing is that if you want to reposition a dynamically enabled model, you should do it directly after loading the model. In a non-threaded child script this is trivial. In a threaded child script you would do:

Code: Select all

    sim.setThreadAutomaticSwitch(false)
local p=sim.getObjectPosition(h,-1)
p[1]=0.5
sim.setObjectPosition(p,-1,p)

If you have a model that was already dynamically simulated and you want to reset it to a specific position, it gets even trickier, since you need to remove all its objects from its dynamic representation before changing its position:

Code: Select all

    sim.setThreadAutomaticSwitch(false) -- if your script is threaded
local objects=sim.getObjectsInTree(modelHandle)
for i=1,#objects,1 do
sim.resetDynamicObject(objects[i])
end
local p=sim.getObjectPosition(h,-1)
p[1]=0.5
sim.setObjectPosition(p,-1,p)