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Simple change to increase the initial torque used during the first motion of the turn_off_smoothly. This is to avoid the case where the turn_off_smoothly is started when the arms are high : 35% of the max torque was not enough to sustain gravity and a collision with the tripod happens.
Tested on the physical robot.
We also tested with Claire a turn_off_smoothly on top of a table and the arms do not have enough force (at all) in this configuration to make the robot fall.