If you change that, it might help with your torque mode problem.
“enable_torque_mode_vel_limit = False” helps !
Now MODE_TORQUE is working. But I do still have a maximum velocity, of nearly 4 rps, independent of the input_torque requested. It doesn’t do me any harm, but I don’t know where it is coming from.
I like MODE_VELOCITY better, it allows me to set both the input_torque, and the maximum velocity.
Hmm, with the vel limit disabled you shouldn’t have any velocity limit in torque mode 