HenningHe

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icon company @Nanjing university of science and technology icon location Nanjing, JiangSu Province, China icon location It's time to sleep.

Results 1 issues of HenningHe

Why doesn't OCS2 choose to use quaternions to describe the pose of floating base？

I'm sorry to post an issue here. It would be more convenient if the discussion was opened. - In [FactoryFunctions.cpp](https://github.com/leggedrobotics/ocs2/blob/main/ocs2_pinocchio/ocs2_centroidal_model/src/FactoryFunctions.cpp), I can find that ocs2 build the floating base robot...