Reset pose to reset velocities

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Sorry I am unclear what you are trying to achieve here.

But in general, reset_pose.py only works with atlas_position_controllers.launch by setting controllers desired joint positions. Once the published commands are received by individual position controllers, each controller will actuate the joints towards desired position.

The Reset Model Poses button in the GUI simply resets the Model pose, and leaves model joint configuration untouched, the model is "teleported" to its starting pose, but the dynamic properties (linear and angular velocities of the links) are unchanged.