Feature/planar base#310
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added 7 commits
March 23, 2026 09:57
| feedforward = ocp_res.feed_forward_terms[0][base_nv:] | ||
| ricatti_gain = ocp_res.ricatti_gains[0][base_nv:, :] | ||
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| if self.params.planar_base: |
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Sorry but this sounds fishy.
Can you extract the component of the FF for the free-flyer?
To see what component we miss?
I would rather map the planar ricatti gains to freeflyer ricatti gains by adding some zeros?
added 3 commits
March 30, 2026 10:57
…p, I wanted to try to use only the cost on configuration
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Add planar base to the controller, to be used with Tiago robots like.