python

full body interface and it makes sense. does not break other code by itself. that said it won't work arbitrarily because a lot of logs and so on use robot.model.nq, and now it has to be model.nq to support controlling joint subspaces. those will be addressed on a case-by-case basis, i don't have an hour to fix all of this now, nor a few more to write all the required tests. onto mobile base only path-following mpc