@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()); } }