Initial development of gait planning in OctoMY™

I started working on an initial MVP gait planning code for OctoMY™. I decided it did not have to perfect, but it needed to exist :P

Initial OctoMY™ gait planning test code that shows 2d rep of limbs (white lines) and their targets (blue circle).

There are a lot of excellent tutorials and working code out there, but I decided to roll my own for a few simple reasons:

• The solutions I found were tied up in existibng robot projects and not "stand-alone".
• I found the code to be cumbersome and unstructured, at least from the perspective of a beginner like me.
• I want to learn, tweak and one day outperform the alternatives.