Mujoco Walking Engine #1545
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Mujoco Walking Engine #1545
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forward-kinematics forward_kinematics Co-authored-by: Paul <[email protected]> formatting add ground_to_robot try walking... add visualization sites add base offsets change start feet to last end feet working walking
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Why? What?
Integrates the walking engine implemented in python into mujoco. Based on #1544
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
uv run scripts/mujoco-walking.py, observe the Nao walking in the simulation