Change from joint angle actions to xyz-rpy
0xtristan opened this issue · 1 comments
0xtristan commented
We are finding that joint angle control is unreliable since small errors in base joints have compounding, downstream effects on other joint actions (since they are non-independent). Hence errors for certain joint are much more important than others and it breaks the assumption that state indices are somewhat independent.
sholtodouglas commented
Done (clearly)