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peng-zhihui/stanfordquadruped
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Explain how the gait scheduler decides which legs push and which legs swing forward at any moment.
Walk me through the bill of materials and assembly steps needed to build a Stanford Pupper.
How does inverse kinematics in this code translate a desired foot position into motor joint angles?
Show me how the PS4 controller input over Bluetooth gets turned into leg movement commands on the Raspberry Pi.
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