Enabled the possibility of using the contact status #7
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We need to detect whether a contact is active or not to display CoP, contact force, support polygon, and friction cone. The current solution is to check whether the norm is not zero; however, this solution might lead to issue in many of our robots as contact forces might be noise or estimated.
Now, with this PR, I enable the possibility of using the
contact_statefield of the whole-body state message. However, it is still possible to use previous method by configuringUse Contact Statusto false.Note that this PR is still not based on the new version of the whole-body state message introduced in loco-3d/whole_body_state_msgs#7. Later, I will create another PR.