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Created with Raphaël 2.2.04Sep20Aug24Jul2322181615121110983128Jun272625212074329May282623222117161497230Apr282726252423181716151211108754330Mar29282726252221191815141265422Feb212019181513127131Jan302928252423222118171615141110821Dec20191714131211876530Nov2928272623[base_estimator_conf] Set imu weight back to 1Revert "[base estimator] Plug commanded joints"[appli_kinematics] Update[FootForceDifferenceController] Add phase inputtest_dcmZmpFootControl worksplot_forces_diff[test_foot_force_difference_controller] Improve testtest_kinematics[FootForceDifferenceController] Add dampingtest_dcmZmpFootControl[unittest] test_foot_force_difference_controller[DistributeWrench] surfaceWrenchFootForceDifferenceController[DistributeWrench] Add securities[base estimator] Plug commanded jointsUpdate some parameters[test_dcmCopControl] Update estimation scheme[DsitributeWrench] Add securities[test_dcmZmpWaistControl] (not working)[test_dcmZmpCopControl.py] Full feedback on estimator[test_waistControl.py] Full feedback on estimator[TalosBaseEstimator] Conditionally allow old behavior[test_dcmZmpCopControl] Waist control with stabilizer[ros] Spawn rampWaist controlSimpleController6dPartial test_waistControl[test_dcmZmpCopControl] Set Madgwick initial value[test_dcmZmpCopControl] Fix estimationtest_dcmZmpCopControlModify test_dcmCopControl[test] test_dcmCopControl[test] test_dcmSingleCopControl[AnkleAdmittanceController] Switch sign[AnkleAdmittanceController] Remove dynamic allocations[Ankle admittance] Simple ankle admittance test with constant reference torques[Ankle Admittance] Runs[Ankle Admittance] Initial commitsync submoduleSet Madgwick initial value