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    • 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
      3b0dca31
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