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Commits on Jun 8, 2024

• added requirements.txt via git add, lol

  assadollahi

  committed
  14f4ab7

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• added requirements.txt and virtual environment to software/README.md

  assadollahi

  committed
  c5c02de

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• added virtual environment and gitignored the.venv dir

  assadollahi

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Commits on Feb 11, 2024

• improved hip design and removed gcode from repository

  assadollahi

  committed
  21e4bb6

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Commits on Jan 9, 2024

• added servos, corrected a couple of joints in kayraLower XML for MuJoCo

  assadollahi

  committed
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Commits on Jan 8, 2024

• updated collision parameters of kayra xml in mujoco for realistic collision

  assadollahi

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Commits on Jan 7, 2024

• corrected the foot and front ankle joints in position

  assadollahi

  committed
  52bb217

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• all part locations upto hip in MuJoCo sim algined!

  assadollahi

  committed
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Commits on Jan 6, 2024

• improved part locations upto hip in MuJoCo sim

  assadollahi

  committed
  2208e90

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• remove .DS_Store files

  assadollahi

  committed
  a3d0811

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• Update readme.md

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  assadollahi

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  c32040a

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• Update README.md

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  assadollahi

  authored
  56e2c43

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• updated some of the part positions in Kayra MuJoCo XML

  assadollahi

  committed
  9edd618

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• adapted the orientation of the parts in MuJoCo after redesigning leg and hips, note that the positions are not updated yet

  assadollahi

  committed
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Commits on Jan 5, 2024

• Merge branch 'main' of github.com:assadollahi/kayra

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  assadollahi

  committed
  3a2b691

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• updated all Kayra designs for foot, leg and hips. Reorganised STL,FCStd and gcode directories to distinguis between prototypes, old designs and obligatory, stable parts.

  assadollahi

  committed
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Commits on Dec 22, 2023

• Merge branch 'main' of github.com:assadollahi/kayra

  assadollahi

  committed
  9fbae4b

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• changed mujoco kayra lower body's knee color to red to reflect the current printed version

  assadollahi

  committed
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Commits on Dec 21, 2023

• modified mujoco file hello.xml to run using relative paths

  assadollahi

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Commits on Dec 18, 2023

• added new knee gcode

  assadollahi

  committed
  b74638a

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• redesigned knees to allow for full 90 bend

  assadollahi

  committed
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Commits on Dec 17, 2023

• added URL source of the tutorial for the inverse kinematics

  assadollahi

  committed
  f481b10

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• first implementation of inverse kinematics for one leg in software/robot/body/inverseKinematics.py

  assadollahi

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Commits on Dec 16, 2023

• worked on the wifi client and server via ESP32

  assadollahi

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Commits on Dec 5, 2023

• added plots.py to mujoco for generating graphs for contact forces

  assadollahi

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Commits on Dec 3, 2023

• possible mods on macbook air

  assadollahi

  committed
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Commits on Dec 1, 2023

• updated the readme.md file in the mujoco path

  assadollahi

  committed
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Commits on Nov 26, 2023

• added simulateAnimation.py to load physical Kayra's poses and play them back in MuJoCo

  assadollahi

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Commits on Nov 25, 2023

• fully working lower body incl eight acutators and joints. happiness!

  assadollahi

  committed
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• hip added, orientation of leg / joints not yet defined

  assadollahi

  committed
  aae3535

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• both legs, four servos added and upper hip joints added

  assadollahi

  committed
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• both legs fully specified and three actuators per leg in place.

  assadollahi

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Commits on Nov 24, 2023

• right uppper leg to simulation

  assadollahi

  committed
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• both lower legs in place, constraint and aktuators working.

  assadollahi

  committed
  1aaf2dd

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• added kayraLowerBody.xml and a servoBlock to the simulation

  assadollahi

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