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Added EKF to mujoco infer and updated observations #12

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Added EKF to mujoco infer and updated observations #12

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6 changes: 6 additions & 0 deletions playground/common/contact_aided_invariant_ekf/__init__.py
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"""
Contact aided invariant extended Kalman Filter
Author: Nathan Kong
Description: Contact aided invariant extended Kalman Filter TODO: fill in description.
Following invariant-ekf implementation from https://github.com/RossHartley/invariant-ekf
"""
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