We can always set the position drive target and velocity target via
set_dof_position_target_tensor, even when the set the control mode to be position control, i.e.
DOF_MODE_POS mode, how will the velocity target and damping take effect? Which is the correct case, A or B?
A. damping is set to be 0 internally regardless of user specified value. So velocity target will have no effect. It will lead to a simple proportional position control.
B. velocity target is set to be 0 internally regardless of user specified value. Thus it will have a damping effect when the actual dof_velocity is not 0. In this case, the controller will be a PD position control, where P is the stiffness and D is the damping.