Support a Torque-Only Motor Action

Alan Nascimento
2025-12-08T14:10:09Z

The current MotorAction class includes position targets, velocity targets, and control gains, which makes it conceptually limited to a PD-style controller. To support other types of controllers (such as LQR or MPC), we should have a torque-only command. We could either introduce this as a new action type or completely replace the built-in PD structure and leave it up to each team to implement their own control strategy and then commit the desired torque. This would also better reflect how real robots work. Even though one could send only the torque coefficient in the current action, I guess it makes things counterintuitive.