I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.
Fixes #1167
I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.
Tests succeed on iron distro