Fixed setting of force derivative bounds.

Added visualization of final video

src/hippopt/turnkey_planners/humanoid_walking_flat_ground/.gitignore

@@ -1,2 +1,5 @@
 *.stl
 *.urdf
+frames/*
+*.png
+*.mp4

src/hippopt/turnkey_planners/humanoid_walking_flat_ground/main.py

@@ -75,8 +75,8 @@ def get_planner_settings() -> walking_planner.Settings:
     settings.dcc_epsilon = 0.05
     settings.static_friction = 0.3
     settings.maximum_velocity_control = [2.0, 2.0, 5.0]
-    settings.maximum_force_derivative = [100.0, 100.0, 100.0]
-    settings.maximum_angular_momentum = 10.0
+    settings.maximum_force_derivative = [1.0, 1.0, 1.0]
+    settings.maximum_angular_momentum = 1.0
     settings.minimum_com_height = 0.3
     settings.minimum_feet_lateral_distance = 0.1
     settings.maximum_feet_relative_height = 0.05
@@ -383,6 +383,8 @@ def get_references(
 
     visualizer.visualize(final_state)
 
+    print("Starting the planner...")
+
     references = get_references(
         input_settings=planner_settings,
         desired_state=final_state,
@@ -402,3 +404,11 @@ def get_references(
     visualizer.visualize(
         state=humanoid_states, timestep_s=output.values.dt, time_multiplier=2.0
     )
+
+    visualizer.visualize(
+        state=humanoid_states,
+        timestep_s=output.values.dt,
+        time_multiplier=1.0,
+        save=True,
+        file_name_stem="humanoid_walking",
+    )