2 use a state state machine to switch between walking phases

[rdesarz]

Add a state machine that detects the transition between each phase of the walk

[codecov-commenter]

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Codecov Report

❌ Patch coverage is 71.42857% with 22 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
biped_walking_controller/plot.py	0.00%	16 Missing ⚠️
biped_walking_controller/preview_control.py	93.22%	4 Missing ⚠️
biped_walking_controller/simulation.py	0.00%	2 Missing ⚠️

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[chatgpt-codex-connector]

💡 Codex Review

biped-walking-controller/biped_walking_controller/plot.py

Lines 191 to 195 in bc8fcb3

	def plot_contact_forces(
	t: float,
	force_rf: float,
	force_lf: float,
	states: WalkingState,

Update plot_contact_forces callers after new required arg

The updated signature of plot_contact_forces adds a required states argument with no default, but existing callers (e.g., examples/example_4_physics_simulation.py still call it with only t, force_rf, and force_lf) will now raise a TypeError: plot_contact_forces() missing 1 required positional argument: 'states' as soon as the example is run. Please either make states optional or adjust callers to pass the state sequence so the plotting code can execute.

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