Muscodwalkin. Closes #72
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2+ 193
− 31
@@ -35,8 +46,153 @@ class CentroidalPhi():
@@ -35,8 +46,153 @@ class CentroidalPhi():
@@ -51,13 +207,16 @@ def createPhiFromContactSequence(rmodel, rdata, cs):
@@ -51,13 +207,16 @@ def createPhiFromContactSequence(rmodel, rdata, cs):
@@ -65,27 +224,30 @@ def createPhiFromContactSequence(rmodel, rdata, cs):
@@ -65,27 +224,30 @@ def createPhiFromContactSequence(rmodel, rdata, cs):