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Why? What?
The current default behavior directly overwrites the target joint positions. The motor command collector is a node from the old framework which builds the target joint positions depending on the provided motion command.
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
Run the simulator and change the
parameters.motion.use_remote_control_for_motion_selectionparameter to false. The robot should look at the ball and walk towards it if the ball is in the FOV.