I am now using IGOR. When I am reading the official python code, there is one question confusing me a lot.
For the wheel actuators, velocity and torque commands are sent simultaneously.
I wonder whether these two kinds of commands confict with each other.
In my opinion, these two modes should be executed separately.
Actuators are not my research field, so I feel confused.
Thanks a lot for your attentions!
For Igor there is also an impedance controller running in addition to the velocity controller to keep the wheels centered. The video https://youtu.be/7JrBDRNPxv4 talks about the development process and the impedance controller to keep the legs together (at 06:50 min).
Please let us know in case things are still unclear.