Work Blog

Quaternion Tutorials

I am adding a module on quaternions to my flexible robotics class, and am pretty happy with the way it is turning out.

Demonstrating Unicast in ROS2 with CycloneDDS

This has been converted to a tutorial and moved here

Flexible Robotics, Mujoco, and Visas

I arrived at Bilkent University this week, and immediately jumped in to course creation with Onur Ozcan.

Mujoco Updates

This week I’ve been learning MuJoCo and have some informal things to share about what I’ve learned so far^[I’m talking about the python interface in this article.

Updates on MuJoCo

Installing mujoco on linux with anaconda is not well documented. I’ve gotten an install to work, and finally without many of the hacks recommended around the web.

Microdot Updates

I’m slowly trying to merge some existing servo code with a micro web framework called microdot in order to be able to encode “gait” parameters from a webpage on an ESP32.

Servo Comparison

When I’m developing a course or camp, I often don’t have time to do in-depth research on parts or to pre-order multiple rounds of test parts in order to properly research what I need.

First Post

The idea of this section of my website is to document some of my daily work during my sabbatical year and hopefully onward.