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dazzmo / CassieControllers

A controller library for robotic systems
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Modify cost weightings to be a (diagonal) matrices #8

Closed nic-barbara closed 11 months ago

nic-barbara commented 11 months ago

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.

nic-barbara commented 11 months ago

@dazzmo just confirming this is done and we can close this issue?

dazzmo commented 11 months ago

This has been completed now.