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feat(go2):optimize the go2 Walk gait and increase the maximum command velocity. - #122

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daifawo wants to merge 4 commits into

Motphys:mainfrom

daifawo:feature/go2-walk-flat-improve

Open

feat(go2):optimize the go2 Walk gait and increase the maximum command velocity.#122
daifawo wants to merge 4 commits into
Motphys:mainfrom
daifawo:feature/go2-walk-flat-improve

Commits on Oct 20, 2026
- fix(quadruped): measure foot slide in world frame
  daifawo
  committed
  4975521
- fix(quadruped): measure foot slide in world frame
  daifawo
  committed
  e1fdc90
Commits on Oct 21, 2026
- fix(go2): refine walk rewards and sim2sim commands
  daifawo
  committed
  be733e1
- style(quadruped): format validation error
  daifawo
  committed
  0347669