Open Duck Mini v2 - playground model

Open Duck Mini by Antoine Pirrone and the Open Duck Mini contributors,
https://github.com/apirrone/Open_Duck_Mini

Source, pinned:
  apirrone/Open_Duck_Mini @ b23317a485b3cec7d8417f352478778b3475173c
  its v2 robot description (robot.xml and the meshes it names)
  its walking policy BEST_WALK_ONNX.onnx and the runner it names the starting pose in, experiments/v2/onnx_AWD_mujoco.py

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 open-duck-mini-v2.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:
  - decimated every printable part the project designed (a part over 2,500 triangles keeps 30 % of them, at most 5,000) and converted it to OBJ;
  - replaced each bought or vendor part it bundles (STS3215 and SG90 servos and their horns, the Raspberry Pi Zero, IMU, boards, battery cells and holder, switch and bearings), and the two antenna rods, which the project models but its print guide does not list, with one box, disc or capsule of the same size, in the same colour;
  - restored the free joint the vendor file leaves commented out, so the robot stands on the floor instead of hanging from the world;
  - used the servo values the vendor file keeps commented out beside its active ones (position gain 19.6, 3.69 N m, joint damping 1.44, friction loss 0.19, armature 0.012), on which the project's walking policy walks here;
  - stood the robot in the bent-knee pose the project's own policy runner starts from (init_pos in experiments/v2/onnx_AWD_mujoco.py), feet 1 mm above the floor, and renamed the model and the feet's geoms;
  - kept every body, joint, inertial, contact exclusion and actuator as the vendor file states them otherwise;
  - converted the walking policy BEST_WALK_ONNX.onnx to a flat little-endian float32 file (walk.f32), every weight unchanged in value, so the playground can run it in the browser without an ONNX runtime.

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