Does the currently implemented nullspace_mpc and mppi support 4WISD for actions similar to horizontal and diagonal translation?

And in the task to minimize velocity and acceleration, shouldn't the column offset at t=0 be Nx?

<img width="833" height="241" alt="Image" src="https://github.com/user-attachments/assets/9716dd05-3c93-4d1e-a1e5-9a08f82a1d6e" />