A new IK computation module demonstrates the inverse-kinematics-based control pipeline for a robot end-effector. The API documentation adds the corresponding IK content. Run with pdm run examples/ik.py.

Demonstrates MotrixSim's ability to simulate interaction between terrain colliders and a robot body, with the G1 walking stably over rough terrain. Run with pdm run legged_gym/scripts/G1_play.py.