Open Duck Mini v2

I'm making a miniature version of the BDX Droid by Disney. It is about 42 centimeters tall with its legs extended. The full BOM cost should be under $400 !

This repo

This is kind of a hub where I centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) I'll try to clean things up at some point.

CAD

https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05

See this document for getting from a onshape design to a simulated robot in MuJoCo

RL stuff

We now use AWD

Actuator identification

We used Rhoban's BAM

BOM

The BOM is not yet fully finalized, wait a bit before ordering stuff

https://docs.google.com/spreadsheets/d/1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc/edit?usp=sharing

Build Guide

Print Guide

See this document.

Assembly Guide

TODO

Embedded runtime

This repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime

Thanks a lot to HuggingFace and Pollen Robotics for sponsoring this project !