Enhance Humanoid Robot Gait

I already have a 19-DOF humanoid running on a custom Python HAL that talks seamlessly to both MuJoCo and our Unitree H1. A deterministic 200 Hz loop handles PD control, torque limits, e-stop logic, and a multi-layer safety stack, yet the walking pattern still feels rough... (Budget: ₹37500 - ₹75000 INR, Jobs: C++ Programming, FastAPI, JavaScript, Machine Learning (ML), NumPy, Python, Robotics, Software Architecture)