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Older
xx = x[5] + x[3] if self.use_both_x5_x3 else x[5]
u = np.asarray([self.pid_angle.pi(xx), self.pid_velocity.pi(x[0])])
xx = x[5] + x[3] if self.use_both_x5_x3 else x[5]
u = np.asarray([self.pid_angle.pi(xx), self.pid_velocity.pi(x[0])])