---
title: "wahab. (@wabs) | Hashnode"
description: "The ups and downs are worth it. Read the latest articles by wahab. on Hashnode."
url: "https://hashnode.com/@wabs"
---

@wabs

# wahab.

@wabs · Mumbai, India · Joined November 2026

The ups and downs are worth it

### [i thought adding knees will help my walking bot but it backfired due to my own policies](https://wahab-engineering.hashnode.dev/i-thought-adding-knees-will-help-my-walking-bot-but-it-backfired-due-to-my-own-policies?utm_source=hashnode&utm_medium=feed)

I added knees to an evolving walking bot. Every test failed. Here's how joint limits, reward hacking, and flawed physics exposed my mistakes.

8 min read · [wahab-engineering.hashnode.dev](https://wahab-engineering.hashnode.dev/i-thought-adding-knees-will-help-my-walking-bot-but-it-backfired-due-to-my-own-policies?utm_source=hashnode&utm_medium=feed)

[1](https://hashnode.com/posts/i-thought-adding-knees-will-help-my-walking-bot-but-it-backfired-due-to-my-own-policies/6af10364af28bd3ba7ab4b4c) [3d ago](https://hashnode.com/posts/i-thought-adding-knees-will-help-my-walking-bot-but-it-backfired-due-to-my-own-policies/6af10364af28bd3ba7ab4b4c)