Added all visualization tools and checked for consistency with simulation. Changed inertia matrix to be consistent with the coordinate system we are using. Fixed bugs in target generation library.
With these changes I believe the controllers are tuned incorrectly, I will make an issue to be dealt with in the future. We should also be more careful that we are consistent with our body frame going forward.
Added all visualization tools and checked for consistency with simulation. Changed inertia matrix to be consistent with the coordinate system we are using. Fixed bugs in target generation library.
With these changes I believe the controllers are tuned incorrectly, I will make an issue to be dealt with in the future. We should also be more careful that we are consistent with our body frame going forward.