Trying to teleop elbow as well as EE
Testing Hip IK
Crane stance balancing working nicely
Single Leg balancing working
Working on placement of swing foot
Testing things
Merged in the master changes
About to incorporate ZMP
Implemented nudger
Tuned gains for dual leg
Added single support phase
Nudger
Cut out legacy
Position IK control functional
WALKING IS WORKING! WOOHOOgit add src/walker.cpp
Just messing around
Dan's request
adjusted for roll offset
Removed SY from trajectory
Updated to latest and added CMakeLists