Do not initialize position with torque in impedance controller #92
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Since the impedance controller is an EffortController, joint_handles are torque handles; joint_set_point_handles are the position handles. Initializing the position with the torque (at start probably all zeros) could explain a lot of FRI interpolation errors at startup.
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Since the impedance controller is an EffortController, joint_handles are torque handles; joint_set_point_handles are the position handles.
Initializing the position with the torque (at start probably all zeros) could explain a lot of FRI interpolation errors at startup.