Open mehdi-benallegue opened 5 months ago
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.
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.