Clarify teleop torque debug comments#5
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- Leader joint2/3: lower bound 0.0 → -0.1 (allow small negative offsets) - Follower gripper: lower bound 0.0 → -0.2 (match actual range) Fixes joint limit violation warnings during IDLE_HOLD state.
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This pull request makes minor improvements to the comments in the
panthera_python/scripts/5_teleop_control.pyscript for better clarity, especially regarding the estimation and use of feedback torques in the teleoperation control logic. The code logic itself remains unchanged.Key comment clarifications:
tor_diff) is currently only used for debugging output in the default mode.Leader.gripper_control_MIT(...), and that the modification oftor_diffwith the gripper torque threshold only affects debugging output, not the actual gripper control.