PyPI - reachy-mini - Versions diffs - 1.2.5rc1__py3-none-any.whl - Mend

reachy-mini 1.2.5rc1__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.

Files changed (479) hide show

reachy_mini/descriptions/reachy_mini/mjcf/scenes/minimal.xml ADDED Viewed

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+<mujoco model="scene">
+    <include file="../reachy_mini.xml" />
+    <compiler meshdir="../assets" texturedir="../assets" />
+    <option>
+        <flag multiccd="enable"/>   <!-- multi-contact CCD for convex/mesh pairs -->
+    </option>
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+        <rgba haze="0.15 0.25 0.35 1" />
+        <global azimuth="160" elevation="-20" offwidth="1280" offheight="720"/>
+    </visual>
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+            height="3072" />
+        <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+            rgb2="0.1 0.2 0.3"
+            markrgb="0.8 0.8 0.8" width="300" height="300" />
+        <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
+            reflectance="0.2" />
+        <!-- CROISSANT -->
+        <texture type="2d" name="croissant_diff"
+            file="croissant_1k.blend/textures/croissant_diff_1k.png" />
+        <material name="croissant_material"
+            texture="croissant_diff"
+            rgba="1 1 1 1"
+            shininess="0.2"
+            specular="0.1"
+            reflectance="0.05" />
+        <mesh name="croissant_mesh" file="croissant_1k.blend/croissant_1k.obj" scale="1 1 1" />
+        <!-- APPLE -->
+        <texture type="2d" name="food_apple_01_diff"
+            file="food_apple_01_1k.blend/textures/food_apple_01_diff_1k.png" />
+        <material name="food_apple_01_material"
+            texture="food_apple_01_diff"
+            rgba="1 1 1 1"
+            shininess="0.2"
+            specular="0.1"
+            reflectance="0.05" />
+        <mesh name="food_apple_01_mesh" file="food_apple_01_1k.blend/food_apple_01_1k.obj"
+            scale="1 1 1" />
+        <!-- TABLE -->
+        <!-- wooden_table_02_1k.blend -->
+        <texture type="2d" name="wooden_table_02_diff"
+            file="wooden_table_02_1k.blend/textures/wooden_table_02_diff_1k.png" />
+        <material name="wooden_table_02_material"
+            texture="wooden_table_02_diff"
+            rgba="1 1 1 1"
+            shininess="0.2"
+            specular="0.1"
+            reflectance="0.05" />
+        <mesh name="wooden_table_02_mesh" file="wooden_table_02_1k.blend/wooden_table_02_1k.obj"
+            scale="1 1 1" />
+        <!-- DUCK -->
+        <!-- rubber_duck_toy_1k.blend
+          -->
+        <texture type="2d" name="rubber_duck_toy_diff"
+            file="rubber_duck_toy_1k.blend/textures/rubber_duck_toy_diff_1k.png" />
+        <material name="rubber_duck_toy_material"
+            texture="rubber_duck_toy_diff"
+            rgba="1 1 1 1"
+            shininess="0.2"
+            specular="0.1"
+            reflectance="0.05" />
+        <mesh name="rubber_duck_toy_mesh" file="rubber_duck_toy_1k.blend/rubber_duck_toy_1k.obj"
+            scale="0.4 0.4 0.4" />
+    </asset>
+    <worldbody>
+        <light pos="-0.5 0 3.5" dir="0 0 -1" directional="true" />
+        <geom name="floor" size="0 0 0.05" pos="0 0 -0.8" type="plane" material="groundplane" />
+        <body name="croissant" pos="0.6 0.1 0.03" euler="0 0 1.57">
+            <geom name="croissant_geom"
+                type="mesh"
+                mesh="croissant_mesh"
+                material="croissant_material"
+                mass="0.07"
+                friction="0.8 0.4 0.1" />
+            <joint name="croissant_joint" type="free" />
+        </body>
+        <body name="apple" pos="0.6 -0.2 0.03" euler="0 0.78  0.78 ">
+            <geom name="apple_geom"
+                type="mesh"
+                mesh="food_apple_01_mesh"
+                material="food_apple_01_material"
+                mass="0.1"
+                friction="0.8 0.4 0.1" />
+            <joint name="apple_joint" type="free" />
+        </body>
+        <body name="table" pos="0.35 0 -0.8" euler="1.57 0 0">
+            <geom name="table_geom"
+                class="visual"
+                type="mesh"
+                mesh="wooden_table_02_mesh"
+                material="wooden_table_02_material"
+                mass="1.0"
+                friction="0.8 0.4 0.1" />
+            <!-- <joint name="table_joint" type="free" /> -->
+            <!-- replace the table top collision with a box -->
+            <geom class="collision"
+                name="table_top_collision"
+                type="box"
+                size="0.56 0.03 0.35"
+                pos="0 0.77 0"
+                friction="1.0 1 1"
+            />
+        </body>
+        <body name="duck" pos="0.6 0.3 0.0" euler="1.57 -1.57 0">
+            <geom name="duck_geom"
+                type="mesh"
+                mesh="rubber_duck_toy_mesh"
+                material="rubber_duck_toy_material"
+                mass="0.1"
+                friction="0.8 0.4 0.1" />
+            <joint name="duck_joint" type="free" />
+        </body>
+    </worldbody>
+</mujoco>

reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "48f0e86376312f8ca242a082",
+    "fullConfiguration": "default",
+    "id": "MUIOPFRAXdyRYA5/y",
+    "isStandardContent": false,
+    "name": "5W_SPEAKER <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/antenna.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "d5df0bcac25cddb763b3a090",
+    "fullConfiguration": "default",
+    "id": "MT+KnYpqaZ58+3raS",
+    "isStandardContent": false,
+    "name": "antenna <2>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/antenna.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_body_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "M6OWFp5hfkfES9FmB",
+    "isStandardContent": false,
+    "name": "Antenna_body_3DPrint <2>",
+    "partId": "JF/",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_body_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_l_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MHVB1f7lyvjCWrFJe",
+    "isStandardContent": false,
+    "name": "Antenna_Holder-L_3DPrint <1>",
+    "partId": "KFDB",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_l_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_r_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MX6Uc6wQ4cFgySRks",
+    "isStandardContent": false,
+    "name": "Antenna_Holder-R_3DPrint <1>",
+    "partId": "JFv",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_r_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MObKCzX1Fco0wvr0/",
+    "isStandardContent": false,
+    "name": "Antenna_interface_3DPrint <2>",
+    "partId": "JF7",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.part ADDED Viewed

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "ae2c63bc6f578a46d35cd365",
+    "fullConfiguration": "default",
+    "id": "MDupaBfND/yK9FERm",
+    "isStandardContent": false,
+    "name": "Arducam <1>",
+    "partId": "JGD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/arm.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "e305b26a84339af20c593973",
+    "documentMicroversion": "7031fc46a026e2d553617dca",
+    "elementId": "f05b326e391ef37011cd1007",
+    "fullConfiguration": "default",
+    "id": "MHbJVGQ/2CguoKbZz",
+    "isStandardContent": false,
+    "name": "Arm <1>",
+    "partId": "JsD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/arm.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "Md1pPF2974d9JOL2l",
+    "isStandardContent": false,
+    "name": "B3B-EH <1>",
+    "partId": "JFr",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh_1.part ADDED Viewed

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "MMuPyh0yjSzJko9Po",
+    "isStandardContent": false,
+    "name": "B3B-EH_1 <1>",
+    "partId": "JFT",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh_1.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/ball.part ADDED Viewed

@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "e305b26a84339af20c593973",
+    "documentMicroversion": "4913859d0d2ce0a13b3adb26",
+    "elementId": "0aa833fd983f27ea7fb43256",
+    "fullConfiguration": "default",
+    "id": "Msm1EC3X/D1/s/Uus",
+    "isStandardContent": false,
+    "name": "Ball <13>",
+    "partId": "JSD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/ball.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/bearing_85x110x13.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "d5ff0fe74f14f26be2deb5d4",
+    "fullConfiguration": "default",
+    "id": "MYk5LvI8gIvlMtfS7",
+    "isStandardContent": false,
+    "name": "Bearing_85x110x13 <1>",
+    "partId": "JGD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/bearing_85x110x13.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "e305b26a84339af20c593973",
+    "documentMicroversion": "4913859d0d2ce0a13b3adb26",
+    "elementId": "1aa49f5cc5d823754d8b1fec",
+    "fullConfiguration": "default",
+    "id": "MpioSzVOUQtkaeTVH",
+    "isStandardContent": false,
+    "name": "big_lens <1>",
+    "partId": "J0D",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens_d40.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "f67f6ec9755019fa8d4cde38",
+    "fullConfiguration": "default",
+    "id": "M6vM68+58boAYt2AP",
+    "isStandardContent": false,
+    "name": "Big Lens D40 <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens_d40.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/body_down_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "M40W4a7sQuI8QEDbK",
+    "isStandardContent": false,
+    "name": "BODY-DOWN_3DPrint <1>",
+    "partId": "JFP",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/body_down_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/body_foot_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MFPx9mgqcSNR4iAYO",
+    "isStandardContent": false,
+    "name": "BODY-FOOT_3DPrint <1>",
+    "partId": "JFH",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/body_foot_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/body_top_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MfqCGZgMWtuWpureN",
+    "isStandardContent": false,
+    "name": "BODY_TOP_3DPrint <1>",
+    "partId": "JFb",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/body_top_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/body_turning_3dprint.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "41e19b342cf83e0d866fde9b",
+    "fullConfiguration": "default",
+    "id": "MttvYsoT0rlrLKDwS",
+    "isStandardContent": false,
+    "name": "BODY-TURNING_3DPrint <1>",
+    "partId": "JFL",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/body_turning_3dprint.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/bottom_body.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "e305b26a84339af20c593973",
+    "documentMicroversion": "7031fc46a026e2d553617dca",
+    "elementId": "63ac215c84389096e60ba3ce",
+    "fullConfiguration": "default",
+    "id": "MgqLgbONW+9OAHLGG",
+    "isStandardContent": false,
+    "name": "bottom_body <1>",
+    "partId": "RcDD",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/bottom_body.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/bts2_m2_6x8.part ADDED Viewed

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+{
+    "configuration": "default",
+    "documentId": "7836ed39be931c6ece17e007",
+    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
+    "elementId": "2cfe27202252cfce42ed7ee4",
+    "fullConfiguration": "default",
+    "id": "MHzA6RZ/kEAMV93SN",
+    "isStandardContent": false,
+    "name": "BTS2_M2_6X8 <1>",
+    "partId": "JFL",
+    "suppressed": false,
+    "type": "Part"
+}

reachy_mini/descriptions/reachy_mini/urdf/assets/bts2_m2_6x8.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/README.m ADDED Viewed

	@@ -0,0 +1 @@
1	+ Created with: https://github.com/pollen-robotics/reachy_mini_stl_convexify

reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_back_0.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_back_1.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_back_2.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_back_3.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_front_0.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_front_1.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/body_top_3dprint_collider_front_2.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/coarse/head_one_3dprint_collider_0.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/fine/body_top_3dprint_collider_back_0.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/fine/body_top_3dprint_collider_back_1.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/fine/body_top_3dprint_collider_back_2.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/fine/body_top_3dprint_collider_back_3.stl ADDED Viewed

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reachy_mini/descriptions/reachy_mini/urdf/assets/collision/fine/body_top_3dprint_collider_front_0.stl ADDED Viewed

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