let's think about my old walking algorithm ^_^
the (emotional/executive) problem with the walking algorithm is a few fold
1 producing or facilitating a set of geometric (or physics or dynamics)
primitives sufficient to enable step planning
2 writing and wiring a small-depth plan solver to resolve which foot to move
first in edge situations
3 combining everything with a physical or simulated armature, and then
debugging it
now part 2 has prerequisites that are also significant:
2a defining the state of a step of sufficient use to fully plan a good step
2b defining and sufficiently coding the uses of the various constraints of the
system: joint extremes, center of mass positioning
2b also has subparts
2b-1: [i don't quite remember but one runs into it when trying to do the whole
thing together]
2b-2: annotating an armature with sufficient structured information (limb graph
in 3-space with mass) to derive the various constraints
:D
_now_ a lot of this is already done for the specific thing i was doing it for,
in the fuzzytew/toywalker github repo, but work towards the specific goal is
roughly lost. {so ... ummmmmmmmmmmmmmmmmmmmmmmm <this algorithm is not in the
repo.
the big blocks for this algorithm involved combining the planner w--
