some improvements to the hand-centric policy crouches really well and even crouch walks, we can definitely pick stuff up off the floor with this I think I'd like to penalize torso velocity beyond a certain speed steerable dynamic hand rotation. I initially always made the hand flat palm down, this worked great and then I realized I should just make it steerable completely bc that'd be epic and that works p well would like to convince the policy next to walk forward to next destination instead of sideways. also encourage the left arm to not look SO goofy but dang i really like how this is turning out and I think the concept of a hand-centric style policy could work really well for actual deployment use cases.
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