Sina
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Sina
I'm curious on ocs2 msg details [here](https://github.com/leggedrobotics/ocs2/blob/fb5fe1a46e4aa3d201e1c6f709009aafa369daba/ocs2_robotic_examples/ocs2_legged_robot/config/mpc/task.info#L114-L120) ``` ;; Normalized Centroidal Momentum: [linear, angular] ;; (0,0) 0.0 ; vcom_x (1,0) 0.0 ; vcom_y (2,0) 0.0 ; vcom_z (3,0) 0.0 ;...