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Created with Raphaël 2.2.015Mar119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230NovExpand contact detector to log ground truth of contact forces and feet velocities when in simulationAdd script to train the contact detection instead of having it at the end of the main loopLowering feet in late contactMerge branch 'python_bindings_names' into 'devel-PA'Python bindings namesRemove base height estimation from target feet heightChange place of ContactDetector in main loop + Expand visual debug in PyBulletTweak code that detects early and late contactsHandle non-zero height for contact locations + New debug function that returns whole swing trajectory for a given footTweak feet update and take into account z component of contact locationsAdd isLate matrix to Gait to signal that a foot is not in contact yet when it should beFinish integration of height fieldMerge branch 'gait_files' into 'devel-PA'Clean and refactor gait classMerge branch 'clean_repo' into 'devel-PA'Clean repositoryMerge branch 'rework_estimator' into 'devel-PA'Rework estimatorMerge branch 'python_bindings' into 'devel-PA'Python bindingsMerge branch 'guilhem_changes' into 'devel-PA'Guilhem changesMerge branch 'Solo3D_update' into 'devel-PA'Update after Solo3D IROS paper experimentsfix crocoddyl MPCtry debug mpc timefix crocoddyl with warm startIntegration of height field in simulationContinue creation of height fieldAdd info about h_com = 0.17Remove clamp limit inside FootstepPlannerTrying to create height fieldAdd script to create the mesh of an height field in .obj formatTweak code to train contact detector and assess its performanceContinue script to test the effect of contact shift on mpcLink contact dectector with footstepPlannerContinue developping contact detectorIncrease margin for alpha of complementary filter + Higher security limits for feedfoward torquesFix target position of foot trajectory generator when a contact is detectedDisable unitest of fourstance jump