Rock the Biped

Now we want the biped to rock back and forth and pump its legs, the way a child does on a swing.

1.
Go to frame 15.
2.
Click Body Rotation.
3.
Make sure the Auto Key button is still on.
4.
In the Left viewport, rotate the COM backward by about 25 degrees. The biped’s hands stay attached to the swing bars.
5.
Rotate the lower legs so that they form roughly a 120 degree angle with the upper legs, as shown in the figure.

6.
Rotate ...

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