LeKiwi - playground model

LeKiwi by SIGRobotics at UIUC (its CITATION.cff lists Pepijn Kooijmans, Manav
Chandaka, Bhargav Chandaka, Gloria Wang and Advait Patel),
https://github.com/SIGRobotics-UIUC/LeKiwi
Its arm parts are the SO-ARM100 by The Robot Studio (Apache-2.0),
https://github.com/TheRobotStudio/SO-ARM100

Source, pinned:
  SIGRobotics-UIUC/LeKiwi @ efa608d7ee5a495a4803b1d28cd0c955b4f1e033
  URDF/LeKiwi.urdf and the meshes it names

Licensed under the Apache License, Version 2.0; distributed on an "AS IS"
BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND. The full text is in
LICENSE.txt inside lekiwi.zip, and at
https://infinomni.com/open-robots/play/LICENSE-Apache-2.0.txt

This is a modified, simplified derivative for a browser physics playground,
not the original files. Simplified by Infinomni:
  - converted the URDF to a MuJoCo model with the same links, joint axes and joint origins, merging every fixed joint into the moving body it hangs from;
  - decimated LeKiwi's own printable mounts and the SO-ARM100 arm parts (a part over 2,500 triangles keeps 30 % of them, at most 5,000), kept the two grid plates whole, and converted them to OBJ;
  - replaced each bought, vendor or third-party part (the three VEX omni wheels and their VEX-derived hubs, nine Feetech servos and a horn, McMaster-Carr standoffs, the battery, both cameras and the Raspberry Pi case) with one box, disc or capsule of the same size;
  - moved the back drive module 20 mm toward the centre, onto the same radius as the left and right ones, as the plate's hole pattern has it;
  - replaced the URDF's CAD-default masses (17.3 kg in all) with estimates for the built robot (about 2.3 kg) and gave the arm the SO-101's published servo gains, damping and joint travel;
  - let the robot's parts collide with the floor and the room but not with each other, because the meshes' convex hulls overlap where the real parts do not;
  - added a staged planar carrier (two slides and a yaw hinge under velocity actuators) that moves the base the way its kiwi drive would; the wheels turn to match but do not push it, and they do not touch the floor;
  - recoloured the parts, which the URDF leaves uncoloured.

Print the real parts from the project itself, at the commit above.
Independent open-source projects, not made by or affiliated with Infinomni.