Pose Reference:
Outcome:
pose1:
pose2:
pose3:
Outcome:https://syncsketch.com/sketch/NmFhNGRiYWQ2/?offlineMode=1#/21856848/22657153/f_33
weight shift(step side):
reference:
planning:
Outcome(key):
Outcome:https://syncsketch.com/sketch/NmFhNGRiYWQ2/?offlineMode=1#/21856848/22657153/f_33