We need to do feedback control in the local frame; we have issues doing things like turning, and working with different robots because of the local feedback not being converted to the correct frame.
TODO: Will come up with a minimum working example to highlight this, but for now, you can set the a1 robot initial configuration to face pointing in the Y direction and it will fail because the robot offsets are not nearly equidistant as they are with solo (which mitigates the issues).
This also affects the feedback controller we have on the orientation.
We need to do feedback control in the local frame; we have issues doing things like turning, and working with different robots because of the local feedback not being converted to the correct frame.
TODO: Will come up with a minimum working example to highlight this, but for now, you can set the a1 robot initial configuration to face pointing in the Y direction and it will fail because the robot offsets are not nearly equidistant as they are with solo (which mitigates the issues).
This also affects the feedback controller we have on the orientation.