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Adding 10cm and 20cm walks

Merged Olivier Stasse requested to merge ostasse/sot-talos-balance:devel into devel

Currently we have the two spectrums:

  • 10cm is working without fall (unstable at the beginning and at the end)
  • 20cm is not working (falling after 4 steps)
  • Do not use the desired ZMP, as observed by Gabriele (and Kaneko before) it is better to control over the real multibody ZMP than the reference. The dynamic consistency is better.

To start the motion:

python test_dcmZmpControl_file.py TestKajita2003StraightWalking64/10cm

or

python test_dcmZmpControl_file.py TestKajita2003StraightWalking64/20cm