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Created with Raphaël 2.2.07Sep652131Aug3029262524232219181716121110985432129Jul2827262522212019181713121110876510Jun331May19171613103228Apr27222119126531Mar30252221181715119843224Feb23211716111024Jan20181716131210654321Dec171615139117Nov1615985432Change condition to update footsteps at the start of a new gait phasewalking real hw joystickReset newPhase_ to false at each call of Gait::update so that it is only true during 1 iteration and not 20 iterations when the gait changesDisable vertical velocity during flying phasesadd joystickwalking working on real hwseems goodfirst walk xpfixed plotimprove walking, added bound on velocitiesadd last piece of rebasefixing rebasewalking (bad) MPCintegrating walking costsless noise experiment foot sinetry foot circlebase circle in x and y experiment - fixed IMU initiale yawbase_cirlce with delay in smulation[EXPE] com circleFix how foot radius is taken into account in the estimatorEnable vertical velocity in StatePlanner for short flying phase inside the gait matrixAdd alternative getPhaseDuration getElapsedTime getRemainingDurationsmall cleanfix EstimatorFirst XPfix Target for "" and add os.niceSet minimal contact force to 1N in linear and nonlinear crocoupdate CMakeLists.txt after Furano upgradeMerge branch 'step_spline' into 'devel-Ale'Spline for step trajectory in Target.pysmall stufffix multiprocessingmodified weightcheck-crocoddyl…check-crocoddyl-ocp-vs-casadilog q, v and plot measured foot positionWhole body changesadded force reg, imporved behaviourFix integration and plotFirst version of recover functionSpawn a block under the front left foot at a given iterationProper handling of parallel loop + Implement get_temporary_result