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Direct Drive
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*Introduced in MORe v3.1*

Directly feeds through the force command to the coupling link.

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Block diagram
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   .. image:: media/mot_nomot.png
      :alt: No Motor Block Diagram
      :scale: 50 %

==============  ==============================================================
Signal          Description
==============  ==============================================================
:math:`u_f`     Filter output
:math:`y`       Motor output. Force acting on coupling link.
==============  ==============================================================

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Coupling
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Link selection to represent the motor. The controller output (force/torque) will be applied to the selected link.