let's think about my old walking algorithm ^_^ the (emotional/executive) problem with the walking algorithm is a few fold 1 producing or facilitating a set of geometric (or physics or dynamics) primitives sufficient to enable step planning 2 writing and wiring a small-depth plan solver to resolve which foot to move first in edge situations 3 combining everything with a physical or simulated armature, and then debugging it now part 2 has prerequisites that are also significant: 2a defining the state of a step of sufficient use to fully plan a good step 2b defining and sufficiently coding the uses of the various constraints of the system: joint extremes, center of mass positioning 2b also has subparts 2b-1: [i don't quite remember but one runs into it when trying to do the whole thing together] 2b-2: annotating an armature with sufficient structured information (limb graph in 3-space with mass) to derive the various constraints :D _now_ a lot of this is already done for the specific thing i was doing it for, in the fuzzytew/toywalker github repo, but work towards the specific goal is roughly lost. {so ... ummmmmmmmmmmmmmmmmmmmmmmm <this algorithm is not in the repo. the big blocks for this algorithm involved combining the planner w--