RangerSimulation_MDP_Wavy_Ground

Simulation of Cornell Ranger walking over "wavy" ground to demonstrate robustness to disturbances.
The ground has a peak to trough height of 3cm, with peaks having a distance of 4 meters between them.
I designed the high-level controller by modelling the walking behavior as a Markov Decision Process, and then solving for the optimal policy using value iteration.