Make A1 motion planning work

.gitignore

@@ -122,3 +122,8 @@ traj.csv
 
 results/
 _codeql_detected_source_root
+
+# Generated by scripts/bootstrap_mujoco_models.py
+models/mujoco/unitree_a1
+models/mujoco/unitree_g1
+models/mujoco/boston_dynamics_spot

README.md

@@ -240,6 +240,18 @@ To compile and install the GTDynamics python library:
     make && make python-install
     ```
 
+    To generate stubs explicitly (useful for IDEs/type checkers), run:
+
+    ```sh
+    make python-stubs
+    ```
+
+    On non-Windows platforms, `python-install` depends on `python-stubs`.
+
+    For VS Code / Pylance setup (including `python.analysis.extraPaths`), see `python/README.md`.
+
+    Important: use a `gtsam` Python package built from the same install/prefix as the GTSAM library linked into GTDynamics. Mixing a local GTDynamics build with an unrelated pip/conda `gtsam` wheel can cause runtime aborts.
+
 4. To run the Python tests, you can simply run:
 
     ```sh