[Examples] add all files and update README

examples/README.md

@@ -24,26 +24,40 @@ cs = ContactSequence()
 cs.loadFromBinary(filename)
 ```
 
-## Prefix notation
+## Suffix notation
 
-For the same scenario, several files may exist with different prefixes, here is the meaning of this prefixes:
+For the same scenario, several files may exist with different Suffixes, here is the meaning of this Suffixes:
 
-* No prefix: only contains the contacts placements, the initial and final CoM position and the initial and final wholeBody configuration. 
-* _COM prefix: also contains the phases duration and the centroidal trajectories (c, dc, ddc, L, dL)
-* _REF prefix: also contains the end-effector trajectories for each swing phases
-* _WB prefix: also contains all the WholeBody data (q, dq, ddq, tau, contact forces). 
+* No Suffix: only contains the contacts placements, the initial and final CoM position and the initial and final wholeBody configuration. 
+* _COM Suffix: also contains the phases duration and the centroidal trajectories (c, dc, ddc, L, dL)
+* _REF Suffix: also contains the end-effector trajectories for each swing phases
+* _WB Suffix: also contains all the WholeBody data (q, dq, ddq, tau, contact forces). 
 Note that the centroidal and end-effector trajectories contained in this file are not exactly the same as the ones in the _REF file, they are computed from the wholeBody motion.
 
 ## Scenarios
 
 ### com_motion_above_feet
 
+Contact sequence with only one Contact Phase:
+
+Starting from the reference configuration with both feet in contacts, the CoM is moved above the right feet (in 2 seconds) then above the left feet (in 3 seconds), then go back to the reference position (in 2 seconds).
 
 ### step_in_place_quasistatic
 
+Starting from the reference configuration with both feet in contact with the ground, the Robot do 2 steps in place with each feet (starting with the right one). 
+The Centroidal motion is quasi-static : the CoM only move during the double support phase (duration 2s) and is fixed during the single support phase (duration 1.5s).
 
 ### step_in_place
 
+Similar to above exept that the motion is not quasi-static and the double support duration is 0.2 seconds and the single support last 1 seconds.
+
+
+### walk_20cm
+
+Walk 1 meter forward with 20cm steps, starting with the right foot. The first and last steps are only 10cm long. Double support duration 0.2seconds, single support duration 1.2seconds.
+
+
+### walk_20cm_quasistatic
 
-### walk_10cm
+Similar to above exept that the motion is quasistatic and the CoM only move during the double support phases. Double support duration 2 seconds, single support duration 2 seconds.