Differences with pink #2
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kevinzakka
Issue body actions
- I chose to implement the frame task with the twist and the Jacobian in the spatial frame since MuJoCo only computes Jacobians in the world frame. There's a few code differences that arise due to this difference and I should investigate if the math is airtight everywhere.
- Velocity limits are not specified in MuJoCo XMLs, as such limits need to be explicitly added to the QP definition unlike in pink where the configuration object automatically creates them upon initialization.
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