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Improve ground contact solver + some small changes
In ground contact solver: * No longer return trio since it isn't being used anyway * Improve ground contact solver algorithm * Prefer combinations where the legs aren't adjacent to each other * Introduce some randomness so we are not bias in choosing on stable position over another * Refactor shared code for both ground contact solver and ground contact solver 2 In points: * Add tolerance optional parameter when testing point equality In tests: * Make test (doesn't assume ground targets) its own function * Add tolerance when asserting points in tests * Update README
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