Split model handler addFoot function in two #66
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Hey,
I split the
addFootfunction inRobotModelHandlerinto two:addFootandsetFootReferencePlacement.Now,
addFootwill, by default, place the foot at its current location using referenceState.This makes user code simpler. You can first declare all the feet, then (if needed) use
RobotDataHandlerwithsetFootReferencePlacementto adjust them.Most of the time you won’t even need the second step since the foot usually stays where it is in the reference state anyway.