Example script/API which can be used to test the output of the learned data
As a request by IDIAP, we need to create a script/function which takes as input:
- the initial value of the root joint, xy_init;
- the final value of the root joint, xy_fin;
- a set of contact sequences, cs (no specific API was mentioned for storing cs)
- a series of joint configurations(q) as a warm start.
and returns the feasible trajectory xs, us as the output.