This is a test of a small change that allows canLift to utilize the imu_orientation readings#10

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Commits on Aug 12, 2012

Updated canLift to use real downward vector, rather than fake [0,0,-1], for gravity
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Replaced TrapezoidalFootMoves in GoToStandardHexagon with SafeMoves
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Created a new function called getCOM() for both leg and body models. Returns an (x,y,z) tuple in leg and body coordinate frames respectively. It pulls data from the conf files, which are based on t…
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Commits on Aug 13, 2012