PyPI - reachy-mini - Versions diffs - 1.0.0rc1__py3-none-any.whl - Mend

reachy-mini 1.0.0rc1__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

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reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.stl ADDED Viewed

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

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.stl ADDED Viewed

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

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.stl ADDED Viewed

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

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.stl ADDED Viewed

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

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reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.stl ADDED Viewed

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

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reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/textures/wooden_table_02_diff_1k.png ADDED Viewed

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reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/wooden_table_02_1k.obj ADDED Viewed

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reachy_mini/descriptions/reachy_mini/mjcf/config.json ADDED Viewed

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+{
+  "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 ADDED Viewed

@@ -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>