- Refactored gait processing in main.py to load parameters from Gait_Params_up.toml and publish user gait files.
- Improved control logic in task_3.py to monitor Z-axis speed and detect climbing phases.
- Added functionality for straight movement after task completion.
- Cleaned up commented-out code and ensured consistent message handling.
- Remove redundant LCM initialization and file writing in main.py
- Update file paths in task_3.py to use relative paths
- Replace ctrl.Send_msg() with ctrl.Send_cmd(msg) for consistency
- Add import lcm in task_3.py
- Update main.py to focus on user gait list processing
