Generate_Random_Reference x_init confusion

[Ac31415]

Hi, thank you for releasing this research work!
I have a question regarding how the generate_random_reference is implemented in the simulation.py file under the "contraction" directory. The method is supposed to output x_init, which is a tensor of initial states according to your comments. However near the end of the method, I'm seeing you're adding random errors to those initial states, which should have been the beginning of the reference trajectories. If I plot the x_ref along with the x_init as its beginning, one of the reference trajectories looked like the following:

Any reasons why the random errors are added to the x_init tensor that's causing the discontinuity between the x_init and the rest of the x_ref?

[Ac31415]

Never mind, I think I understood it now.
The x_init is meant to be used by the "simulation" method.
Is that why the x_init is randomized?