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No torque detection bug prone. #62

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mehdi-benallegue opened this issue May 27, 2024 · 0 comments

mehdi-benallegue commented May 27, 2024

It seems that requiring zero torque reference would be interpreted as no torque available and changes to position control. I know this requires a strong zero but I can see scenarios where we may want zero torque on specific joints.
https://github.com/rohanpsingh/mc_mujoco/blob/7d1c7cbeb7a4fcd1d14f26a654fc1a274f0402f6/src/mj_sim.cpp#L767C6-L774C8

This looks like it is bug prone.

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