chip updates: the roughest walking plan in the world [updates]
It is actually the roughest plan in the world but here's a good estimate of how the legs might need to move to get this dude to walk forward.
We're going to have to approach this in taking weight off of an individual leg or so. We'll need to be clever with how we approach this in code and trajectory might not be the best way. At any given tilmestep we might need to adjust to a changing gate but still move the legs in the same order so I'm actually thinking we don't want a trajectory.