Possibility to switch control mode "on fly" in JointController.cc

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Hi, Yesterday I was looking at the code of JointController.cc to understand how to switch from a position control to a velocity control or torque control. I start my simulation always in position control and when I switch to torque (simply sending a message to JointController that contains force) I have to set all the PID gains to 0 because if not I have to sum of the Position control and the forwarded torque. Is this the right way? I hope to have been clear, thank you,

Enrico