Add resetSimulationState and regenerate thrift-generated files

[triccyx]

Reset position to initial pose, do not reset time.

[traversaro]

What is the advantage of resetting the state but not resetting time?

[triccyx]

This is a work-around in order to avoid a problem when resetting the time. If a yarp network wait is running
it will hang (not really hung but delayed) when the time is reset.

[traversaro]

Given that we have already resetSimulation that resets time and state, and resetSimulationTime that resets only the time, I suggest to rename the method resetSimulationState, that just reset the state but not the time. This should make the interface more portable to other simulators and clarify better its behavior (for example, I guess the method also resets the velocity of the links and joints, not only its position.

[traversaro]

Ok for me, modulo the small trailing whitespace comment. @diegoferigo any comment?

[diegoferigo]

I didn't go in detail though the code. It seems fine to me as long as you checked:

• Both position and velocity are reset
• The state of the low-level controllers is reset

Just a minor comment, @triccyx it would be easier to review the PR if you commit the autogenerated sources separately.

[triccyx]

@traversaro @diegoferigo gentle ping
Could you merge the pull request?

[traversaro]

Thanks for the PR!