• Pierre Fernbach's avatar
    [script] update/improvement of memmo/talos_moveEffector_flat : · 3b0dca31
    Pierre Fernbach authored
    - init root position is always (0,0) on (x,y)
    - init z position in random in bounds (and not fixed to the reference config one anymore
    - final root position in unconstrained, and final root orientation is randomly sampled
    - feet z position are correctly set to 0
    - height of the com in the init state is guarantee inside the kin constraints of timeopt