ecific to the step controller, such as
the magnitude of the torque prescription, the duration of torque, and the rest
perieds between torque applications.</p>
<img alt="_images/step_csv.png" class="align-center" src="_images/step_csv.png" />
<p>Walking through the parameters, you’ll see Amplitude is set to 1. This is the
torque setpoint in Newton-meters. 1 Newton-meter is a good value to have for our
test, as it’s a very light application of torque.</p>
<p>Moving on, you’ll see Duration is set to 2. T