This repository contains the current hexapod work plus a small collection of
related robot builds and shared tooling. The hexapod history was extracted
(with full Git history and exp/* provenance tags) from the weird_objects
monorepo on 2026-08-29.
The top-level hexapod_walker/ directory is kept intentionally — the RL
orchestrator, Makefiles, and provenance records use repo-root-relative
paths like hexapod_walker/prototype_sts3215/..., and preserving the
layout kept the extraction risk-free.
hexapod_walker/— active hexapods, earlier actuator variants, and frozen walker generations.vehicles/— wheeled robot projects that do not share the hexapod architecture. The TT-motor kid truck lives here.tools/— repository-wide utilities used by more than one project.media/— checked-in media referenced by project records.experiment_lab/— authenticated robot experiment queue, MCP/REST API, evidence recorder, and human results site.
The current robot is
hexapod_walker/prototype_sts3215/: an
18-servo Feetech STS3215 hexapod with CAD, MuJoCo/RL, robot control, and an
AprilTag tracker submodule. Start with that project's README.md and
AGENTS.md.
run.sh and requirements.txt at the repository root provide the shared
Python runner used by the hexapod Makefiles.
After a fresh clone, initialize the tracker submodule:
git submodule update --init --recursiveSee AGENTS.md (uv, BuildViz, hardware safety) and .cursor/rules/
(local dev environment, worktrees, STS3215 hardware safety).