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Relax assumption on two link foot

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Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
35/100
Issue type
Feature
Clarity
Mostly clear
Activity status
Stale
Tech stack
python
Domain
robotics

Research direction

Locate the code that assumes each foot is divided into two links and trace how the foot-link configuration is read. The work is complete when the controller accepts a list of foot links instead of requiring exactly two, while existing two-link behavior remains supported; run the repository's available tests or simulation checks.

Written by the indexing model from the issue text.

Description

Now we assume the foot to be divided into two links.
We should relax this assumption by reading a list of foot link.

Dominant language
Python
Stars
26
Forks
4
No merged PRs in 30d

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