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Created with Raphaël 2.2.018Mar1715119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr28262120191614131211Mar325Feb2416109814Jan13618Dec1615111093230Novcontroller fix imports solo3dpyb and controllerFix issue with ctc term for before/after expect switch + Move contact detection from PyBullet truth to a detection based on velocity and expected contact termsAdd graph to debug probability curves for contact detectionTweak graphs for contact detection analysis and add function to tune the value of the decision thresholdDisable foot lowering when contact is lateDisable taking into account foot height for nowAdd new velocity profile to log data about contactsTweak MPC temporary result that is used while the MPC is solvingfix rebasechange q_intiremovelineswork on controllertart cleaning controllercleaningcleaningfix insallMerge branch 'scripts' into 'devel-PA'install scriptsMakes feet lowering faster and tweak trajectory debug to properly take into account the vertical timeRemove analysis of contact detection from main loop and add lines to log the data captured during the simulationExpand 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'