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2026: OpenSCAD robot and remote, physical joint limits, model in Unity

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hardware/openscad/ rebuilds the broken Fusion models as OpenSCAD:
body (top/bottom plate, standoffs, battery bay, switch), legs (coxa
bracket, femur link, tibia, horn adapters, TPU socks, servo cables),
the whole robot, and the remote (shell, lid, Nextion 3.5", JH-D400X-R4
sticks, 18650 UPS board, IMU, Teensy 4.0, USB-C breakout). Every part
was checked by slicing against the original STEP solids; the original's
bugs are fixed and listed in PLANNING.md.

The robot now uses a hexagon leg layout (corner legs 60 deg round from
the mid legs; the corner coxa brackets need turning on their splines).
Physical limits from a collision sweep of the model are in Config.h:
per-leg coxa limits and LEG_CLEARANCE_MM 56 (a leg is 55.2 mm wide at
the joints); the sim API exports them (version 7). sim_smoke passes.

Unity loads the model (export_unity.py -> Resources/OpenScadModel,
OpenScadModel.cs builds a new rig in place of the old scene's robot).
The PCB model's mounting holes now use the exact EasyEDA grid. README
shows renders of both.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
mangavalkandClaude Opus 5.5 committed 2026-11-14 12:14:32 +01:00
1 parent b1c94e4149
commit 91b5b99fd5
42 files changed
+1560 -20
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2026-current/robot/Kinematics.cpp
+1 -1
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@@ -51,7 +51,7 @@ JointAngles Kinematics::solve(int i, const FootTarget& target) {
out.femur_deg = degrees(femur_rad);
out.tibia_deg = degrees(tibia_rad);
if (out.coxa_deg < COXA_MIN_DEG || out.coxa_deg > COXA_MAX_DEG) out.valid = false;
if (out.coxa_deg < COXA_MIN_DEG[i] || out.coxa_deg > COXA_MAX_DEG[i]) out.valid = false;
if (out.femur_deg < FEMUR_MIN_DEG || out.femur_deg > FEMUR_MAX_DEG) out.valid = false;
if (out.tibia_deg < TIBIA_MIN_DEG || out.tibia_deg > TIBIA_MAX_DEG) out.valid = false;