CControllerGc does not set actuator torques

[Shameek Ganguly]

Patch for fix:

$ git diff ../../src/scl/control/gc/CControllerGc.cpp
diff --git a/src/scl/control/gc/CControllerGc.cpp b/src/scl/control/gc/CControllerGc.cpp
index c4162f5..c7c7423 100644
--- a/src/scl/control/gc/CControllerGc.cpp
+++ b/src/scl/control/gc/CControllerGc.cpp
@@ -72,6 +72,8 @@ namespace scl
     // We do not use the centrifugal/coriolis forces. They can cause instabilities.
     data_->des_force_gc_ = data_->gc_model_->M_gc_ * tmp3 - data_->gc_model_->force_gc_grav_;

+    // copy to actuator force
+    data_->io_data_->actuators_.force_gc_commanded_ = data_->des_force_gc_;
     return true;
   }

@@ -97,6 +99,8 @@ namespace scl
     // We do not use the centrifugal/coriolis forces. They can cause instabilities.
     data_->des_force_gc_ = data_->gc_model_->M_gc_ * tmp3 - data_->gc_model_->force_gc_grav_;

+    // copy to actuator force
+    data_->io_data_->actuators_.force_gc_commanded_ = data_->des_force_gc_;
     return true;
   }

@@ -134,6 +138,8 @@ namespace scl
     // We do not use the centrifugal/coriolis forces. They can cause instabilities.
     data_->des_force_gc_ = data_->gc_model_->M_gc_ * tmp3 - data_->gc_model_->force_gc_grav_;

+    // copy to actuator force
+    data_->io_data_->actuators_.force_gc_commanded_ = data_->des_force_gc_;
     return true;
   }

@@ -151,6 +157,9 @@ namespace scl

     data_->des_force_gc_ = data_->gc_model_->M_gc_ * tmp1 - data_->gc_model_->force_gc_grav_;

+    // copy to actuator force
+    data_->io_data_->actuators_.force_gc_commanded_ = data_->des_force_gc_;
+
 #ifdef DEBUG
     Eigen::VectorXd tmp2 = data_->gc_model_->M_gc_ * tmp1;
     std::cout<<"\n******* F* *******\n"<<tmp1.transpose()

[Samir Menon]

Fixed as of 7dea9716b9abcfc23a727f6b9e11f08d1dd3f02a

[Shameek Ganguly]

Thanks!