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Animation IkInitializer Blend with P0 Fix height Height-prior API Kill Shared front-end Simplify height prior API Simplify to ExtendedPose3d Kill non-invariant filter Removed the flat-ground detector Debugging smoother Flat piece Revise language Showcase variants on staircase Legged estimator core
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Pull request overview
This PR introduces a set of legged-robot state estimator implementations (EKF/IEKF + fixed-lag smoothers) and provides both C++ and Python replay/visualization utilities with accompanying test coverage.
Changes:
- Added C++ legged estimator runtime API (4 variants) plus new factor definitions and Jacobian tests.
- Added Python helper module to load the staircase dataset, replay estimators, and generate Plotly animations/GIFs, along with smoke/wrapper tests.
- Added a C++ replay example and bundled staircase CSV dataset files.
Reviewed changes
Copilot reviewed 17 out of 19 changed files in this pull request and generated 8 comments.
Show a summary per file
| File | Description |
|---|---|
| python/gtsam/tests/test_LeggedEstimatorExample.py | Adds Python smoke tests for dataset replay and visualization helpers. |
| python/gtsam/tests/test_LeggedEstimator.py | Adds Python wrapper tests for runtime API (e.g., height prior toggling). |
| python/gtsam/tests/test_ExtendedPose3.py | Adds a test for the new Python alias ExtendedPose3d. |
| python/gtsam/examples/LeggedEstimatorExample.py | Implements Python dataset loading, replay utilities, and Plotly animation helpers. |
| gtsam/navigation/tests/testLeggedEstimatorFactors.cpp | Adds Jacobian regression tests for new legged estimator factors. |
| gtsam/navigation/tests/testLeggedEstimator.cpp | Adds unit tests covering estimator behavior across variants (init, priors, marginalization, etc.). |
| gtsam/navigation/navigation.i | Exposes new legged estimator API to Python via SWIG. |
| gtsam/navigation/LeggedEstimatorFactors.h | Introduces factor classes used by graph-based estimation variants. |
| gtsam/navigation/LeggedEstimator.h | Adds the public C++ API for legged estimator variants and shared params. |
| gtsam/navigation/LeggedEstimator.cpp | Implements prediction/update logic for EKF/IEKF and fixed-lag smoothers. |
| gtsam/geometry/tests/testExtendedPose3.cpp | Updates tests to rely on the new dynamic-k alias type name. |
| gtsam/geometry/geometry.i | Adds SWIG wrapping for ExtendedPose3d. |
| gtsam/geometry/ExtendedPose3.h | Renames/introduces the dynamic-k alias to ExtendedPose3d. |
| examples/legged/LeggedEstimatorReplayUtils.h | Adds CSV dataset parsing and replay output helpers for the C++ example. |
| examples/LeggedEstimatorReplayExample.cpp | Adds a CLI replay runner that outputs trajectories/metrics for all variants. |
| examples/Data/legged_staircase/metadata.csv | Adds staircase dataset metadata used by replay utilities. |
| examples/Data/legged_staircase/contacts.csv | Adds staircase dataset contact events CSV used by replay utilities. |
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Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
varunagrawal
approved these changes
Mar 16, 2026
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4 simple legged-robot state estimators, based on IMU-propagation and recorded body-frame foot positions.
ImuFactor2CombinedImuFactor2to estimate changing biases.The included notebook showcases the first three.