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Created with Raphaël 2.2.04Nov3229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230Nov282625212027Oct2321129Sep8117Aug14121154331Jul30Merge branch 'devel-PA' into 'devel-PA'refactor Heightmaptest escalier[CMake] set RPATH to $ORIGINyaml updatedMerge remote-tracking branch 'origin/demo-raspberry' into test_medericTweak orientation control parametersdemo-raspberrydemo-raspberryvrpn client, main replay adapted with dummy clientmarche_1 test 03_11_2021tests_solo_02/10/2021param multiprocess and no guiFix error multiprocessing SL1Mno feedback in footTrajectoryBezierfloor_line_testInsert heuristic inside SL1M costAdd debug function for Bezier curvesupdate shouldersconfig-decaléstairscleanuse environment variable for directoryupdate heightmapTune some parameters and adapt code for solo3D simulationobstacle descent, modify height of reference trajectorySmall fix to comparison scriptsAdd two predefined velocity profilesNo need to force Y offset of CoM in MPC anymore because it is done in utilsForce Y offset of CoM to zeroUncomment lines in test_convergence_mpc.pyAdd CoM offset handling that automatically depends on the initial position of the robotReduce joint limits in config_solo12.yamlIncrease size of arrays that store non zero coefficientsAdd two new velocity profiles to perform testsComment stuff that was displayed in the terminal for debug purposeHeight limit, fix error in statplanner and heighmapMerge branch 'feature-solo-3d' into 'devel-PA'Remove comments and prints, rename variables, clear codeFix error in Footstepplanner while recomputing the new optimised positionFix height planner, world frame for heightmapEstimation of the feet by FK in Bezier planner, in cpp, removed from controller