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Examples and Jupyter notebooks: improvement and clean-up

Carlos Mastalli requested to merge jupyter-cleanup into devel

In this PR, I continue with the task defined #83 (closed). I will listed here the general changes:

  • Renamed Jupyter notebooks with descriptive names, e.g. bipedal_walking_from_foot_traj.ipynb
  • Moved most of the examples out of notebooks folder.
  • Put all Jupyter notebooks inside notebooks folder.
  • Removed some duplicate files.
  • Simplified the introduction_to_crocoddyl.ipynb
  • Reviewed the text of most of notebooks.
  • Kept consistency between notebooks and examples.

Additionally I improved or added functionality to few examples:

1. Bipedal walking
  • Added a double support phase to the biped walking example.
  • Improved regularization for walking with double support phase.
  • Added documentation in the biped walking class.
  • Created the createStepModel function for easier understanding of the biped walking class.
2. Unicycle
  • Increased the arrow dimension for better visualization.
  • Added function to plot the unicycle motion.
3. Cartpole
  • Improved the animation by using a rectangle and adding time information.
  • Added solution for the Jupyter notebook.

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