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As discussed in #104 (comment), switching the control mode of Gazebo's robots from any control mode to Position might create problems on real robots due to the missing initial reference.
We should discuss how to handle this case.
The text was updated successfully, but these errors were encountered:
With the new ScenarI/O bindings, changing the control mode to Position automatically resets any reference that was previously set to the current joint position.
Users should remember that the previous position is discarded. There is a debug message that is displayed during runtime to make it clear.
As discussed in #104 (comment), switching the control mode of Gazebo's robots from any control mode to
Position
might create problems on real robots due to the missing initial reference.We should discuss how to handle this case.
The text was updated successfully, but these errors were encountered: