Generalized reachability to better work for non-quadrupedal robots #6
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Reachability boxes are now specified with planes of symmetries, which allows to easily use bipedal configurations, for example.
Also added a parameter to disable alignment of sampled poses with the terrain, which might not make sense for all robot types.
Works for bipedal mockup:
This PR touches performance-relevant parts of the code. I still need to make sure nothing got worse before I merge to main.