Brilliant, thanks for sharing.
I shared a few of my own code and scripts on this forum, for voice control etc
Demonstrated here..
As per your own software, the joystick control demo uses the IMU for gait adjustment for stability.
And autonomous behaviour using orbslam3 + AI object/hazard recognition, These data are fused with the camera extrinsic matrix to create a real world (scaled) occupancy map. E.g green safe floor, red = hazard
Which pidog then uses for autonomous safe route planning.
Partially shared on github and full integration demonstrated on FB.
I’ll download yours and have a play around to compare notes and read through your methodologies! Again many thanks.