Michele Focchi

- add possibility to toggle ground truth and state estimator on the keyboard - in ground truth mode I would add the map of the environment - add a button...

- I cannot set references for the arm - when you stand up first stand up,then unfold the arm - when you press stop fold the arm, - if you...

TODO

5

- [ ] incorporate obects in world file as a separate robot that you can spawn - [x] clean up L8 admittance - [ ] make uniform fixed base and...

# plot rope joints subset = p.rope_index plotJoint('position', p.time_log, p.q_log[subset, :], p.q_des_log[subset, :], joint_names=itemgetter(*subset)(conf.robot_params[p.robot_name]['joint_names']))