Great work! I came across that same article a few days ago when I was looking for literature to understand IK and how the functions are derived. At the time I wondered how I could adapt the code to achieve or verify the same foot trajectory, or any other shape to quickly experiment with new gaits. Please keep posting your progress.

@Flavien Henrion and @Gero, very professional responses, this thread is extremely helpful and I appreciate everyone's efforts to keep it friendly and productive. I have two computer engineering degrees and several years of experience coding in C/C++, but I'm a complete noob to robotics, the tools and the techniques to program them. I'm interested to learn about many different ways to program our robots, and I hope others will follow your example and share their code/tools so we can all learn from their experience. Thank you for your contributions and mentorship to the group.

@Gero Thanks for the tips. I looked up and installed pybullet, and will dig into the manual when I get a chance. Question 1. how does pybullet contribute to this IK script? Question 2. You reference creating a URDF file for bittle, can you summarize how you did this. Is it as simple as updating the dimensions in the IK script, that was going to be my approach? I will put in the work, but I'd like to avoid looking up bad information. Thanks.

Ok, I know I'm going to lose credibility by asking this, but how are you generating the animation of the gait, is it a command in the py script, or are you using a 3rd party app to stitch the output together?

@Gero I second this. I just received my Bittle and plan to tinker with the IK code to see if I can improve my robot's ability to walk on different surfaces... right now only hard-smooth surfaces seem to work moderately well. Super big thanks for laying the foundation... good job and please keep providing updates!