This is particularly nice when reversing direction, as gait itself reverses! :)

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

Modified: Motion/XWalkMC.h

still may have problems with leg collision or range limitation...

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

We'll worry about automatically adapting to other IK solvers later

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