(This is as-of December 25, 2020)

Due to the interesting structure of a universal spine joint with 2 actuated abdominal muscles, doing the trig for the inverse kinematics isn't as simple as it would be for legged robots. As a result, I ran a simulation that tried all the different servo positions. I measured the servo positions & spine angles and trained an lightgbm model to create a kinematics controller.

This video shows a the simulated robot doing a simple serpentine gait. While there's still a lot to do, I'm excited that some of the low-level components of the project are starting to seem real.