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Refactor/repo organization - #3
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- Rename AnalyticalWalking -> analytical_walking, Utils -> kinematics, move config.py to the package root; drop the unimplemented USE_MPC flag - Simulation class, cross-platform keyboard via the viewer key_callback - Pose2D/FootPose dataclasses, WalkState enum, WalkTarget named tuple - Fix swing-foot landing: phase/time mix-up made the foot jump 13.7 mm in one tick, and the foot was commanded up to 10.9 mm below the floor - Fix request_stop() restarting the walk; add march_in_place() - Document the IK roll-axis offset approximation
- ik_solver -> kinematics (LegIK, joints looked up by name), trajectory_generator -> mpc_planner (MPCPlanner) - URDF and meshes under assets/aurea, paths relative to the script - CLI options --vx, --headless, --duration; explicit MPC failure handling - Remove caminhada_relativa.py, scene_test.xml and unused NumericalIK - Document the MPC/physics clock mismatch (behaviour kept unchanged)
- torso_controller.py moved to mujoco_sim/control/ (logic unchanged) - USE_TORSO_CTRL and TORSO_CTRL_PARAMS moved to mujoco_sim/config.py - Corrections applied in Simulation.step() after the IK, as on main - Keyboard stays on the viewer key_callback, which also covers Linux/macOS (replaces the termios polling from main) - Drop the .pyc files committed on main; add controller tests
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