Remove experimental per-side branch toggles and continuity state from the urdf-loader playback solver. Keep a single lower-branch rule for all chains and update docs to reflect the stable ground-facing behavior.
Add an MJCF->URDF conversion workflow and a uv-served urdf-loader demo so the walker can be inspected outside MuJoCo. Include playback kinematics, anchor diagnostics, and docs to speed up linkage debugging in Isaac-oriented workflows.
Enable physically emergent lateral tilt and yaw in the MuJoCo scaffold so side dynamics are visible in viewer, logs, and exports for future stability tuning.
Document why web playback should use --frame world so feet interact correctly with the ground plane, and position --frame body as a kinematics debugging view to avoid floor-level torso confusion.
