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Avoid replaying feedback torque during startup and calibration - #95
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Initialize neutral motor commands, hold non-gripper joints at their sampled positions during calibration, and clear the test torque before returning.
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Startup uses measured feedback torque as a command, and gripper calibration replays that torque on the other joints and leaves the final test torque active.
Initialize neutral motor commands, hold non-gripper joints at their sampled positions during calibration, and clear the test torque before returning.