This folder contains the raw data of the experimental results presented in the paper "Whole-Body Model Predictive Control for Biped Locomotion on a
Torque-Controlled Humanoid Robot", submitted to Humanoid 2022.

The data are stored in three rosbags:
- Rosbag 1 features flat floor walking with 10cm steplength and 1.1s single support phase, 0.3s double support phase;
- Rosbag 2 features flat floor walking with 20cm steplength and 1.5s single support phase, 0.75s double support phase;
- Rosbag 3 features 10cm-height stairstep crossing with 30cm steplength, 3s single support phase and 2s double support phase.

The names of the topics are stored in /introspection_data/names. The corresponding values are stored in /introspection_data/values. The data can be quickly visualized using a tool like Plotjuggler. 

Every quantity related to the state of the robot and its sensors has been recorded at 2 kHz. Every quantity related to the MPC (predicted forces, desired foot placement...) has been recorded at 100 Hz.