In all preceding examples the movement was performed only in standing, moving the distal and free limbs. This is due to the fact, that the full mechanism for weight transfers and progressions in space has not been implemented yet. However, the foundation for this feature is already present, as floor contacts already determine the hierarchy of limbs. Positions and movements of all other limbs are always calculated in relation to the supporting base.
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A first preparation for steps and progressions may be seen in this example. The weight shift of the body is performed in relation to the supporting foot. Please check the current implementation status for updates of this feature.
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