> ...targeting the actuation instead of how the model should be build... I see this as another tool to use to get 'ideal' motion. Sure, build your robot out of

> ...targeting the actuation instead of how the model should be build... I see this as another tool to use to get 'ideal' motion. Sure, build your robot out of better parts, but then use this software to continue to prevent oscillation, even in your 'better-designed' hardware.