Most of the locomotion and contact planners for multi-limbed robots rely on a reduction of the search space to improve the performance of their algorithm. Posture generation plays a fundamental role in these types of planners providing a collision-free. statically stable whole-body posture. projected onto the planned contacts. https://www.lightemupsequences.com/limited-deal-Women-s-ADU-RipStop-EMT-Pants-special-find/