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LQR redesign for delay tolerance + velocity-aware catch condition (opt-in) - #4

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baggepinnen wants to merge 4 commits into
robust-swingupfrom
velocity-aware-switch
Open

LQR redesign for delay tolerance + velocity-aware catch condition (opt-in)#4
baggepinnen wants to merge 4 commits into
robust-swingupfrom
velocity-aware-switch

Merge branch 'robust-swingup' into velocity-aware-switch

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