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Created with Raphaël 2.2.03May228Apr27222119126531Mar30252221181715119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov161598543229Oct2625242221201918171413121110986130Sep2724222120171615141310763130Aug2726252019181716121096543230Jul292726232119171615126528Jun22109828May25176529Apr282621201916Merge branch 'devel-PA-fix' into 'devel-PA'Debugging jump on the spot with new trajectory from StatePlannerTweak LoggerControl to display reference vertical velocity when there is oneSet contact height to 0 after long jump phase (not finished)Commented debug lines in estimatorNew preJumpTrajectory function in StatePlannerOnly use feet tracking tasks when in flight phaseEnable trajectory generation of StatePlanner for jump phases + Use k as input to smooth the outputAdd possibility to spawn a small blue step under the FL foot in the simulator for debug purposeNew argument for contact detector + Contact are not rotated to stay in plane parallel to base anymore + Make sure inactive contacts are given 0 desired MPC forces in WBC inputsLog joint tracking error + Monitor contact with spawned blue step (hardcoded ID) + New probability term based on tracking error + Use ground truth mixed with velocity for nowTweak mocap transpose value to match feet radiusDo not take mean position of active contacts into account in position estimationFix missing margin after contact for feet positions + Increase security limits for HFE jointsSplit z trajectory in two halfs (before/after apex) + Non zero vertical velocity at touchdown + Keep lowering feet if contact is lateFix the hardcoded path and add a argparse for the log displayIncrease max height of steps to 6cm + Make sure ground friction coefficient is set to 1 in the simulationPython bindings for StatePlanner change + Integration in Controller.py and Controller.cppDisable base orientation coefficients in the inverse Jacobian for the tracking task of feet in swing phaseTarget height for the base now depends on the low-passed mean height of active contact pointsSet minimum vertical contact force to 3N + Increase apex height of feet in swing to 10cmfix small reshape issue and update readmelearn NNDisplay joint tracking error as wellPass foot traj generator positions to avoid compilation failureAdd commented checks for friction cone constraints and min/max vertical force + Fix constraints in QP of WBC + Commented debug linesLog qmes and qdes of ContactDetectorNew sequence for custom gallopDo not use updateNewContact anymore + Get position of active contacts from the reference of the foot trajectory generator + Slowly bring contact height back to 0Swing height depends on contact height + Keep contact at reference position when enabled + Fix small discontinuity issue with getRemainingTimeFix sign of displayed contact forcesSwitch friction coefficient from 0.9 to 0.5 (bis)Switch friction coefficient from 0.9 to 0.5Lines to disable base part in the tracking task of swinging feetComment trajectory generation for jump phasesnew filesAdd parameter to yaml config file to enable/disable compensation forces in QP of WBCMore idiomatic way to appendFix use of getElapsedTimeUse unfiltered configuration vector for footstepPlanner