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Prosecutors said Medina stabbed Josh Sutter with a sword multiple times on January 31, 2015 as the two men argued about the actor's girlfriend at their apartment in Palmdale, north of Los Angeles.
The altercation became physical, and ended when Medina fatally stabbed Sutter multiple times with a sword, officials said.
Sentencing is set for March 30, and Medina could face up to six years in prison.
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When he was released from the Antelope Valley jail previous year, Medina told reporters he was "very, very, very sorry for what occurred".
According to the Los Angeles Times, Sutter moved to Los Angeles in 2011 to help his sister, who specializes in selling rescued dogs. Medina claims he stabbed his roommate with his sword as an act of self defense.
He was then re-arrested in January 2016 and later charged with murder - but pleaded not guilty.
Donald Sutter, the victim's father, said his son could not be the aggressor.
But he also starred as the Red Ranger in "Power Rangers Wild Force". He had also appeared in another one of the franchise's series, Power Rangers Samurai, from 2011 to 2012, playing the role of Dekker, reprising his role as a voice talent for the video game of the same name. "Josh don't have that in his heart to attack anybody", he said. His other acting credits include a 2003 episode of "E.R." and a 2004 episode of "CSI: Miami". Featuring a band of Power Rangers who draw on the power of the samurai, it was a big hit with kids across the globe.