Closed yminchen closed 4 years ago
Add both OSC costs and n_ydot to lcmt_osc_tracking_data. The latter was added to account for quaternion tracking where the desired position doesn't have the same dimension as desired velocity
n_ydot
lcmt_osc_tracking_data
This change is
Add both OSC costs and
n_ydottolcmt_osc_tracking_data. The latter was added to account for quaternion tracking where the desired position doesn't have the same dimension as desired velocityThis change is