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docs(mujoco): add TODO notes for 3D gait tuning

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5shekel
2026-02-19 08:53:32 +02:00
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sim/mujoco/README.md
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@@ -84,3 +84,10 @@ uv run walker-train-ppo --steps 200000
- The model matches the codebase linkage layout (nearF/nearG/farF/farG) but still needs tuning for stronger forward gait.
- This scaffold is independent from the browser simulator and can be evolved without breaking the JS app.
- Next step is geometry alignment/tuning against the linkage dimensions in the main app.
## TODO
- Tune contact/friction/damping to improve stability with unconstrained 3D freejoint dynamics.
- Retune PD gait phase offsets and gains for forward progress under full 3D dynamics.
- Add roll/pitch/yaw summary metrics to `walker-eval` for easier stability regression checks.
- Add a short recommended viewer camera preset for inspecting side tilt behavior.