reachy-mini 1.0.0__py3-none-any.whl

reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.part

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+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.part

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+}

reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.part

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.part

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.part

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_tricap_3dprint.part

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+f 13/79/3 4/80/3 37/23/3 40/44/3
+f 53/81/7 54/82/7 45/83/8 42/84/7
+f 58/85/9 59/86/9 55/87/10 52/88/10
+f 48/89/11 49/90/11 60/91/12 57/92/13
+f 43/93/14 44/94/14 50/95/14 47/96/14
+f 41/97/15 42/98/7 43/99/14
+f 46/100/16 47/101/14 48/102/11
+f 51/103/17 52/104/10 53/105/7
+f 56/106/18 57/107/13 58/108/9
+f 46/100/16 41/97/15 43/99/14 47/101/14
+f 42/109/7 45/110/8 44/94/14 43/93/14
+f 49/90/11 48/89/11 47/96/14 50/95/14
+f 56/106/18 46/100/16 48/102/11 57/107/13
+f 59/86/9 58/85/9 57/92/13 60/91/12
+f 51/103/17 56/106/18 58/108/9 52/104/10
+f 54/82/7 53/81/7 52/88/10 55/87/10
+f 41/97/15 51/103/17 53/105/7 42/98/7
+f 46/100/16 56/106/18 51/103/17 41/97/15
+f 73/111/7 62/112/7 65/113/7 74/114/7
+f 78/115/19 72/116/20 75/117/20 79/118/21
+f 68/119/22 77/120/23 80/121/23 69/122/23
+f 63/123/24 67/124/24 70/125/24 64/126/25
+f 61/127/26 63/128/24 62/129/7
+f 66/130/27 68/131/22 67/132/24
+f 71/133/28 73/134/7 72/135/20
+f 76/136/29 78/137/19 77/138/23
+f 66/130/27 67/132/24 63/128/24 61/127/26
+f 62/139/7 63/123/24 64/126/25 65/140/7
+f 69/122/23 70/125/24 67/124/24 68/119/22
+f 76/136/29 77/138/23 68/131/22 66/130/27
+f 79/118/21 80/121/23 77/120/23 78/115/19
+f 71/133/28 72/135/20 78/137/19 76/136/29
+f 74/114/7 75/117/20 72/116/20 73/111/7
+f 61/127/26 62/129/7 73/134/7 71/133/28
+f 66/130/27 61/127/26 71/133/28 76/136/29
+f 93/141/30 82/142/30 85/143/30 94/144/30
+f 98/145/31 92/146/32 95/147/32 99/148/33
+f 88/149/34 97/150/35 100/151/35 89/152/35
+f 83/153/14 87/154/14 90/155/14 84/156/36
+f 81/157/37 83/158/14 82/159/30
+f 86/160/38 88/161/34 87/162/14
+f 91/163/39 93/164/30 92/165/32
+f 96/166/40 98/167/31 97/168/35
+f 86/160/38 87/162/14 83/158/14 81/157/37
+f 82/169/30 83/153/14 84/156/36 85/170/30
+f 89/152/35 90/155/14 87/154/14 88/149/34
+f 96/166/40 97/168/35 88/161/34 86/160/38
+f 99/148/33 100/151/35 97/150/35 98/145/31
+f 91/163/39 92/165/32 98/167/31 96/166/40
+f 94/144/30 95/147/32 92/146/32 93/141/30
+f 81/157/37 82/159/30 93/164/30 91/163/39
+f 86/160/38 81/157/37 91/163/39 96/166/40
+f 113/171/30 114/172/30 105/173/41 102/174/30
+f 118/175/42 119/176/42 115/177/43 112/178/43
+f 108/179/44 109/180/44 120/181/44 117/182/45
+f 103/183/24 104/184/24 110/185/24 107/186/24
+f 101/187/46 102/188/30 103/189/24
+f 106/190/47 107/191/24 108/192/44
+f 111/193/48 112/194/43 113/195/30
+f 116/196/49 117/197/45 118/198/42
+f 106/190/47 101/187/46 103/189/24 107/191/24
+f 102/199/30 105/200/41 104/184/24 103/183/24
+f 109/180/44 108/179/44 107/186/24 110/185/24
+f 116/196/49 106/190/47 108/192/44 117/197/45
+f 119/176/42 118/175/42 117/182/45 120/181/44
+f 111/193/48 116/196/49 118/198/42 112/194/43
+f 114/172/30 113/171/30 112/178/43 115/177/43
+f 101/187/46 111/193/48 113/195/30 102/188/30
+f 106/190/47 116/196/49 111/193/48 101/187/46

reachy_mini/descriptions/reachy_mini/mjcf/config.json

@@ -0,0 +1,21 @@
+{
+  "url": "https://cad.onshape.com/documents/7836ed39be931c6ece17e007/w/39d557f31a0ba179c9e7bd5b/e/c82436d68c7d00e142abc581",
+  "outputFormat": "mujoco",
+  "robot_name": "reachy_mini",
+  "output_filename": "reachy_mini",
+  "simplify_stls": true,
+  "max_stl_size": 1.0,
+  "ignore": {
+    "*": "collision",
+    "!turning_bowl": "collision"
+  },
+  "additional_xml": ["joints_properties.xml", "additional.xml"],
+  "joint_properties": {
+    "passive*": {
+      "actuated": false
+    },
+    "default": {
+      "class": "chosen_actuator"
+    }
+  }
+}

reachy_mini/descriptions/reachy_mini/mjcf/joints_properties.xml

@@ -0,0 +1,29 @@
+
+<default>
+    <default class="perfect_actuator">
+        <geom contype="0" conaffinity="0"/>
+        <joint damping="0.095" frictionloss="0.001" armature="0.001"/>
+        <position kp="10.0" kv="0.18" forcerange="-10.0 10.0"/>
+        <default class="chosen_actuator"></default>
+    </default>
+    <default class="xc330m288t">
+        <!-- probably wrong, would need to re-identify -->
+        <geom contype="0" conaffinity="0"/>
+        <joint damping="0.095" frictionloss="0.058" armature="0.0018"/>
+        <position kp="2.54" kv="0.0" forcerange="-0.8 0.8"/>
+    </default>
+    <default class="sts3215_345">
+        <!-- Standard sts3215 with 1/345 gear ratio -->
+        <!-- Confident that this is realistic (mini duck walks with these values) -->
+        <geom contype="0" conaffinity="0"/>
+        <joint damping="0.56" frictionloss="0.068" armature="0.027"/>
+        <position kp="17.11" kv="0.0" forcerange="-3.23 3.23"/>
+    </default>
+    <default class="sts3215_147">
+        <!-- sts3215 with 1/147 gear ratio -->
+        <!-- (Estimation based on the gear ratio difference) -->
+        <geom contype="0" conaffinity="0"/>
+        <joint damping="0.1" frictionloss="0.028" armature="0.011"/>
+        <position kp="17.11" kv="0.0" forcerange="-1.35 1.35"/>
+    </default>
+</default>