Remove double-call to inverse dynamics in gravity comp function.#61
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adamheins wants to merge 1 commit into
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Remove double-call to inverse dynamics in gravity comp function.#61adamheins wants to merge 1 commit into
adamheins wants to merge 1 commit into
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Previously the gravity comp function was computing inverse dynamics twice: once to check if the torques were too large, and then again to actually return the value. Only one call is really needed, which also simplifies the code a little.