~Personal Phd repo~

• centroidalkin : various scripts for launching and analysing estimation algorithms
• phd_tests : misc interesting test scripts thrown together
• quadruest : script plotting reporting and calibration for solo quadruped
• traj_generation : scripts to generate Solo12 trajectories using tsid
  • solo_stamping.py: creates a stamping trajectory (contact switches) using tsid
  • solo_sin_traj.py: creates a sinusoidal trajectory using tsid
  • tsid_wrapper.py: wrapper around tsid to create trajectories for quadruped (solo) or biped (Talos)
  • solo_player_pyb.py: runs a trajectory in pybullet
• apriltag_cov: computation of a covariance model for the PnP algorithm, applied on square markers like apriltags