Gear Synch Added! Ok so boom, gears/pulleys for the timing belt system are added and implemented, found all the parts I need on Amazon for ~$25 extra for both legs and used the provided seller info to spec the CAD models. Now, just have to add the foot, along with its connection to the ankle gear, and add all the significantly weighted tech pieces/ anything that takes up significant space to figure out bracketing. After that, add weights, clean rough edges, and train the RL policy while we wait for a grant.