====== Bipedal Robot Locomotion: Implement and Demo Full Gait  ======
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Congratulations! You've made it to the final week. It's now time put your walking gaits to the test and make any necessary adjustments/corrections.

**1.** Attach your biped to the circular boom; this will restrict your robot to planar motion. Execute your full walking gait over the course of **15 gait cycles**. Make any adjustments/corrections such that it walks autonomously (ie. no helping hands) without falling over.

**Please generate:**

A demonstration (either live or via video recording) of your biped robot (attached to the boom) executing all **15 cycles** of your gait without falling over.