You have followed the progress here of Hinamitetu, the gymnast robot now capable of doing a somersault over a fixed bar then catching itself without falling.
It should be clear here: this remarkable performance has not been achieved without pains.
You have to suffer and persevere to reach perfecti
This is a companion discussion topic for the original entry at https://community.robotshop.com/blog/show/the-hiccups-of-hinamitetu