Yasin Yağın

Hi, have you found a solution to this? If so, could you please share it here?

Hi, @elpimous. In literature, position control is used only when the feet are in the swing phase. During the stance phase, only torque control is applied. Therefore, you should provide...

I apologize for any confusion in my previous message regarding the position and torque controllers. Currently, our approach involves the following code: ```cpp command_.send_moteus_TX_frame(ids, port, 0, 0, joint_fftorque + joint_kp*(desired_position...