bullet-featherstone: Remove joint motor constraint on joint force cmd #713
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
scpeters
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Jan 25, 2025
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@Mergifyio backport gz-physics7 |
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…#713) Signed-off-by: Ian Chen <[email protected]> (cherry picked from commit 7597a2c)
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…#713) Signed-off-by: Ian Chen <[email protected]> (cherry picked from commit 7597a2c)
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🦟 Bug fix
Fixes gazebosim/gz-sim#2729
Summary
Currently the joint motor responsible for enforcing a joint vel cmd does not disengage when a force command is received. This PR fixes the issue by removing the joint motor constraint whenever a joint force cmd is received.
Checklist
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