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Olivier Stasse authored
This first version tests only the velocity (SoT) -> position (HW) scheme. It should be able to handle acceleration (SoT) -> position/velocity (HW). current (SoT) -> current (HW) torque (SoT) -> torque (HW) The following possibility is currently not handled: current (SoT) -> position (HW) This would requires to handle actuator model.
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