Hotfix: haptic actuation in simulation mode

Current version introduced a bug in haptic actuation mode when run
without HIL.

Author: JeanElsner

src/dm_robotics/panda/arm.py

@@ -372,7 +372,10 @@ def __init__(self, robot_params: params.RobotParams, arm: robot_arm.RobotArm):
       robot_params: Dataclass containing robot parameters.
       arm: The MoMa arm to control.
     """
-    super().__init__(arm, None, robot_params.name)
+    override = None
+    if robot_params.actuation == consts.Actuation.HAPTIC:
+      override = [(0, 1), (0, 1), (0, 1), (0, 1), (0, 1), (0, 1), (0, 1)]
+    super().__init__(arm, override, robot_params.name)
     self._robot_params = robot_params
 
   def after_compile(self, mjcf_model: mjcf.RootElement,

src/dm_robotics/panda/arm_constants.py

@@ -56,8 +56,5 @@ class Actuation(enum.Enum):
 ACTUATION_LIMITS = {
     Actuation.CARTESIAN_VELOCITY: VELOCITY_LIMITS,
     Actuation.JOINT_VELOCITY: VELOCITY_LIMITS,
-    Actuation.HAPTIC: {
-        'min': (-1, -1, -1, -1, -1, -1, -1),
-        'max': (1, 1, 1, 1, 1, 1, 1),
-    },
+    Actuation.HAPTIC: JOINT_LIMITS,
 }

src/dm_robotics/panda/hardware.py

@@ -62,8 +62,6 @@ def set_control(self, physics: mjcf.Physics, command: np.ndarray) -> None:
     if self.actuation == arm_constants.Actuation.HAPTIC:
       self.controller.set_control(
           physics.bind(self._arm.joints).qfrc_constraint * .1)
-      command = np.array(self.hardware.get_state().q, dtype=np.float32)
-      super().set_control(physics, command)
 
   def close(self):
     self.hardware.stop_controller()