GroundVelocity upper legs action

[Tordjx]

Hi !

I was going through the UpkieGroundVelocity environment, and I see that the upper legs action is defined like this :
self.__leg_servo_action = { joint.name: { "position": None, "velocity": 0.0, "maximum_torque": joint.limit.effort, } for joint in self.model.upper_leg_joints }.
Why is the position set to None instead of 0.0 ? Would that not impede the robot from going to straight legs if started from a bent legs position ?

[Tordjx]

My bad I misread the code, self.__leg_servo_action is not the action passed directly as is to the upper legs. The action of the upper legs is 0, low pass filtered of self.__leg_servo_action. Besides, at each reset, the true position of the upper legs joints is replacing the None.
Anyway, wishing you a happy festive season !