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diff --git a/.buildinfo b/.buildinfo
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+# Sphinx build info version 1
+# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: d436f96895cb747a259ad3ee06bf4bcb
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/.doctrees/INSTALL.doctree b/.doctrees/INSTALL.doctree
diff --git a/.doctrees/README.doctree b/.doctrees/README.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/blocks.doctree b/.doctrees/api/gym_jiminy/common/bases/blocks.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/compositions.doctree b/.doctrees/api/gym_jiminy/common/bases/compositions.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/index.doctree b/.doctrees/api/gym_jiminy/common/bases/index.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/interfaces.doctree b/.doctrees/api/gym_jiminy/common/bases/interfaces.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/pipeline.doctree b/.doctrees/api/gym_jiminy/common/bases/pipeline.doctree
diff --git a/.doctrees/api/gym_jiminy/common/bases/quantities.doctree b/.doctrees/api/gym_jiminy/common/bases/quantities.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/body_orientation_observer.doctree b/.doctrees/api/gym_jiminy/common/blocks/body_orientation_observer.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/deformation_estimator.doctree b/.doctrees/api/gym_jiminy/common/blocks/deformation_estimator.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/index.doctree b/.doctrees/api/gym_jiminy/common/blocks/index.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/mahony_filter.doctree b/.doctrees/api/gym_jiminy/common/blocks/mahony_filter.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/motor_safety_limit.doctree b/.doctrees/api/gym_jiminy/common/blocks/motor_safety_limit.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/proportional_derivative_controller.doctree b/.doctrees/api/gym_jiminy/common/blocks/proportional_derivative_controller.doctree
diff --git a/.doctrees/api/gym_jiminy/common/blocks/quantity_observer.doctree b/.doctrees/api/gym_jiminy/common/blocks/quantity_observer.doctree
diff --git a/.doctrees/api/gym_jiminy/common/compositions/generic.doctree b/.doctrees/api/gym_jiminy/common/compositions/generic.doctree
diff --git a/.doctrees/api/gym_jiminy/common/compositions/index.doctree b/.doctrees/api/gym_jiminy/common/compositions/index.doctree
diff --git a/.doctrees/api/gym_jiminy/common/compositions/locomotion.doctree b/.doctrees/api/gym_jiminy/common/compositions/locomotion.doctree
diff --git a/.doctrees/api/gym_jiminy/common/envs/generic.doctree b/.doctrees/api/gym_jiminy/common/envs/generic.doctree
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diff --git a/.doctrees/api/gym_jiminy/common/envs/locomotion.doctree b/.doctrees/api/gym_jiminy/common/envs/locomotion.doctree
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diff --git a/.doctrees/api/gym_jiminy/common/quantities/generic.doctree b/.doctrees/api/gym_jiminy/common/quantities/generic.doctree
diff --git a/.doctrees/api/gym_jiminy/common/quantities/index.doctree b/.doctrees/api/gym_jiminy/common/quantities/index.doctree
diff --git a/.doctrees/api/gym_jiminy/common/quantities/locomotion.doctree b/.doctrees/api/gym_jiminy/common/quantities/locomotion.doctree
diff --git a/.doctrees/api/gym_jiminy/common/quantities/manager.doctree b/.doctrees/api/gym_jiminy/common/quantities/manager.doctree
diff --git a/.doctrees/api/gym_jiminy/common/quantities/transform.doctree b/.doctrees/api/gym_jiminy/common/quantities/transform.doctree
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diff --git a/.doctrees/api/jiminy/controller.doctree b/.doctrees/api/jiminy/controller.doctree
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diff --git a/.doctrees/api/jiminy/motors.doctree b/.doctrees/api/jiminy/motors.doctree
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diff --git a/.doctrees/api/jiminy/utilities.doctree b/.doctrees/api/jiminy/utilities.doctree
diff --git a/.doctrees/api/jiminy_py/core/constraints.doctree b/.doctrees/api/jiminy_py/core/constraints.doctree
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diff --git a/.doctrees/api/jiminy_py/core/motors.doctree b/.doctrees/api/jiminy_py/core/motors.doctree
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diff --git a/.doctrees/api/jiminy_py/robot.doctree b/.doctrees/api/jiminy_py/robot.doctree
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diff --git a/.doctrees/spec/src/tlmc_format_specification.doctree b/.doctrees/spec/src/tlmc_format_specification.doctree
diff --git a/.doctrees/tutorial.doctree b/.doctrees/tutorial.doctree
diff --git a/.nojekyll b/.nojekyll
diff --git a/INSTALL.html b/INSTALL.html
diff --git a/README.html b/README.html
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