At the moment the weight for control inputs in the OSC cost function is just a scalar. We should make it a (probably diagonal) matrix so we can weight different actuator efforts individually.
Might want to do this for the different task costs as well.
At the moment the weight for control inputs in the OSC cost function is just a scalar. We should make it a (probably diagonal) matrix so we can weight different actuator efforts individually.
Might want to do this for the different task costs as well.