@Before
public void setup() {
try {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " before test.");
ParameterRegistry.destroyAndRecreateInstance();
QuadrupedTestFactory quadrupedTestFactory = createQuadrupedTestFactory();
quadrupedTestFactory.setControlMode(QuadrupedControlMode.POSITION);
quadrupedTestFactory.setGroundContactModelType(QuadrupedGroundContactModelType.FLAT);
conductor = quadrupedTestFactory.createTestConductor();
variables = new QuadrupedPositionTestYoVariables(conductor.getScs());
} catch (IOException e) {
throw new RuntimeException("Error loading simulation: " + e.getMessage());
}
}
