Hi All, I have forked the OpenCat framework on GitHub and added a lot more comments, to explain to myself what each piece of the code is doing. I am not sure they are 100% accurate, but doing this helped me think through the logic. If you think this could be useful for you, please take a look: https://github.com/kaiaeberli/OpenCat. Happy New Year! Kai

I would like to create a urdf or sdf file for Nybble/Bittle, to allow gait training using reinforcement learning on pybullet. Is there any information about Nybble/Bittle you could provide to help me do that?