I definitely want a surrogate! I am starting to get shack wacky.
(I’m a home body, I can’t imagine how my wife or other extroverts feel. Also, I want my surrogate to look like Bruce Willis too)
I’ve been working diligently on Robot IK and Dynamics within ROS2. Firstly, it’s been a really tough road the last 2 months getting this dog-crap (i.e. my code) working only to discover my URDF file I exported from SolidWorks way back in December had the joint coordinate systems completely randomized…XYZ unit vectors were all over the place. No wonder when I entered coordinates or orientations for end-effectors they would be all twisted and wrong. lol. I had to go back and redo the URDF but now all is right in the (cartesian) world.
So I heavily refactored my code into something clean and friendlier. I now have stuff separated into State objects and the physics-of-motion models, and visual renders that act on states. Now current state and target state are just 2 sides of the same coin and I can render states as ghost-mesh models with indicators within RViz2. RViz is actually quite flexible. I’ve figured out how to add manipulators for end-effectors or what-not and context menus. In the video I have one to control the robot standing height. My node is also doing proper gravity compensation on the compliant joints and predicting torque current draw very accurately. Robot Dynamics node can handle any number of legs so looking forward to trying out on the Hexapod as well. 
Robot is still shaky since I have no PID or trajectory smoothing, so that is my next task.