Preliminarily finished the basic training and testing phases of matlab code for failure characterization. Histories are kept both for success and failure data quantities under ..Research/AIST/Results/ForceControl/ErrorCharac/TrainingData. We are currently working with 5 data elements for success and 5 for failure.
renamed xYallDir to RollDir in code.
In AssemblyStrategy.cpp:23 Added #defines to more easily change the deviation in the x and y directions.