When the joint torque interface is started or switched from another interface (e.g. joint position), the controller manager starts the RDK joint torque control mode and streams zero torques to all joints via streamJointTorque() initially. This PR is to fix this issue by withholding from calling streamJointTorque() until the first user command from the joint effort controller arrives.
Set the joint commands to NaN when starting the joint modes (joint commands values are checked in the write() before calling the RDK joint command APIs)
When the joint torque interface is started or switched from another interface (e.g. joint position), the controller manager starts the RDK joint torque control mode and streams zero torques to all joints via
streamJointTorque()initially. This PR is to fix this issue by withholding from callingstreamJointTorque()until the first user command from the joint effort controller arrives.NaNwhen starting the joint modes (joint commands values are checked in thewrite()before calling the RDK joint command APIs)joint_impedance_controllerPD gains parameter