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Remove `model` attribute from the `Control` class #487

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shi-eric opened this issue Feb 3, 2025 · 0 comments

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shi-eric commented Feb 3, 2025

The default values are off anyway for non-effort-based control and effort-based control would likely just be a call to zero(). If anything, reset can take the model in as an input. I think both state and control should be capable of being saved and loaded and having the model in there complicates that.

Originally posted by @jc211 in #452

shi-eric self-assigned this

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