issues: The steps are being generated by keyframes instead of a neural net (this means it can't adapt to slopes) It falls over when rotation is enabled the PD controller for the walker is very jerky; as seen here the steps look very unnatural, it starts off too fast and ends too slow; this is just inherent to how PD controllers kinda work; and PI doesn't really apply here because the target changes so the integral increases infinitely. The paw is not looking right; in the crossover it should be bent backwards then tilted towards the ground. I was thinking that for stance it should be matching the ground normal; but it seems for swing it needs to be part of the IK chain maybe?
nice!
issues:
The steps are being generated by keyframes instead of a neural net (this means it can't adapt to slopes)
It falls over when rotation is enabled
the PD controller for the walker is very jerky; as seen here the steps look very unnatural, it starts off too fast and ends too slow; this is just inherent to how PD controllers kinda work; and PI doesn't really apply here because the target changes so the integral increases infinitely.
The paw is not looking right; in the crossover it should be bent backwards then tilted towards the ground. I was thinking that for stance it should be matching the ground normal; but it seems for swing it needs to be part of the IK chain maybe?
You're doing it! You're getting there!
Its walking but ankle/heel is clipping allot and as you said very unnatural looking