From 1c1ed9fcbebb987be1de5aabce53c100bbe5c0a4 Mon Sep 17 00:00:00 2001 From: 5shekel Date: Thu, 19 Feb 2026 08:53:32 +0200 Subject: [PATCH] docs(mujoco): add TODO notes for 3D gait tuning --- sim/mujoco/README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/sim/mujoco/README.md b/sim/mujoco/README.md index e6a1070..ed859d0 100644 --- a/sim/mujoco/README.md +++ b/sim/mujoco/README.md @@ -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.