Thijs Van Hauwermeiren

Currently, this package is unavailable to compile under `ros noetic` and thus `Ubuntu 20.04 focal`. Error when building using `catkin build` indicate problems with `tf_prefix`, a relic from `tf` deprecated...

Regarding the simulation of the Compass Gait Walker, Chapter 4 ("simple models of walking) it is stated post-impact velocity is zero (inelastic collision, e=0): However the velocity of the hip...