I want to use position control to control some joints of a robot and use torque control to control the rest joints in IsaacSim.
I plan to do this by using view._physics_view.set_dof_position_targets or view._physics_view.set_dof_actuation_forces for the ArticulationView of the robot. These two functions will apply commands to all joints of a robot prim. Will there be any conflicts if I call these functions without a step() call in SimulationContext? @Ossama_Ahmed @rgasoto @toni.sm