Add MoMo robot

README.md

@@ -158,6 +158,25 @@ Description: Orbita is a type of spherical parallel manipulator with 3 DOFs.
     * Two loop closures are used here in order to ensure the mechanism is fully constrained
     * Collisions are disabled in this example
 
+### MoMo: An Open-Source Modular Mobile Robot Research Platform
+
+<a href=".imgs/momo.png">
+<img src=".imgs/momo.png" width=256>
+</a>
+
+Description: [MoMo](https://tuhh-itl.github.io/MoMo/) is a modular mobile robot research platform developed at the [Institut für Technische Logistik](https://www3.tuhh.de/itl/) - [TUHH](https://www.tuhh.de/tuhh/startseite).
+
+* Give it a try:
+    * `onshape-to-robot-bullet momo_urdf`
+    * `onshape-to-robot-mujoco momo_mujoco`
+* [Onshape design](https://cad.onshape.com/documents/0f7ba08d49760d832652e76c/w/f802382a554ac4e5d967eb06/e/176c79e9883e5c00c7190ba1)
+* `config.json`
+    * [urdf](momo_urdf/config.json)
+    * [mujoco](momo_mujoco/config.json)
+* **Notes:**
+    * Each wheel has 12 rollers, each of them is a degree of freedom
+    * Collisions are approximated using OpenScad manual approximation
+
 ### Field
 
 <a href=".imgs/robot-field.png">

momo_mujoco/assets/aluminium_angle_bracket.part

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+}

momo_mujoco/assets/aluminium_angle_bracket__2.part

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+    "name": "Aluminium_angle_bracket <3>",
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+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_160.part

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+{
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+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_354.part

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+{
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+    "documentId": "516b493e57c07f64db5ce15e",
+    "documentMicroversion": "c3113fb6a6ededfe6b7fffc3",
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+}

momo_mujoco/assets/aluminium_profile_380.part

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+{
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+    "documentMicroversion": "75b96a05ba208378dea8ad98",
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+    "partId": "JFD",
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+}

momo_mujoco/assets/aluminium_profile_380__2.part

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+{
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+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
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+    "name": "Aluminium_profile_380 <2>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_42_8.part

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+{
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+    "documentMicroversion": "8e52da99d30f74c34a92e6fc",
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+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_436.part

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+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_60.part

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+{
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+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+    "documentVersion": "312cae68760d89a1f51b5a29",
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+    "name": "Aluminium_profile_60 <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/aluminium_profile_620.part

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+}

momo_mujoco/assets/aluminium_profile_620__2.part

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+}

momo_mujoco/assets/aluminium_profile_664.part

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+}

momo_mujoco/assets/aluminium_profile_690.part

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+{
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+}

momo_mujoco/assets/aluminium_profile_90.part

@@ -0,0 +1,14 @@
+{
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+    "partId": "JFD",
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+}

momo_mujoco/assets/angle_5_20.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "8a1433f64247b4654a9ffadd",
+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+    "documentVersion": "312cae68760d89a1f51b5a29",
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+    "name": "angle_5_20 <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/back_cover.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
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+    "isStandardContent": false,
+    "name": "back_cover <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/back_plate_left.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "8a1433f64247b4654a9ffadd",
+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+    "documentVersion": "312cae68760d89a1f51b5a29",
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+    "id": "MrnwHElbCufqTFr6t",
+    "isStandardContent": false,
+    "name": "back_plate_left <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/back_plate_right.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "8a1433f64247b4654a9ffadd",
+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+    "documentVersion": "312cae68760d89a1f51b5a29",
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+    "fullConfiguration": "default",
+    "id": "MDBcuemN9YNBmvyzb",
+    "isStandardContent": false,
+    "name": "back_plate_right <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/back_wheel_cover.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "50eb86bffed8c3b3a6735f0d",
+    "documentMicroversion": "fec78048d4755cd962303b92",
+    "documentVersion": "446056850a16e324719d34b1",
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+    "fullConfiguration": "default",
+    "id": "MaBFbL8liDWxi1cfV",
+    "isStandardContent": false,
+    "name": "back_wheel_cover <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/base_link.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "38ae677da090b710c46b7dc8",
+    "documentMicroversion": "02c208c6fd133608f1d5e793",
+    "documentVersion": "81fbee99726dbd1903f8e9cb",
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+    "fullConfiguration": "default",
+    "id": "Mb9FJ/MqejGoNJhlS",
+    "isStandardContent": false,
+    "name": "base_link <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/base_link.scad

@@ -0,0 +1,4 @@
+% scale(1000) import("base_link.stl");
+
+translate([0,0,112.5])
+cube([745, 440, 225], center=true);

momo_mujoco/assets/base_plate_localization_module.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "8a1433f64247b4654a9ffadd",
+    "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+    "documentVersion": "312cae68760d89a1f51b5a29",
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+    "fullConfiguration": "default",
+    "id": "MiBVaYSQGjKyqboeh",
+    "isStandardContent": false,
+    "name": "base_plate_localization_module <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}

momo_mujoco/assets/base_plate_localization_module.scad

@@ -0,0 +1,4 @@
+% scale(1000) import("base_plate_localization_module.stl");
+
+translate([0,0, 138])
+cube([435, 645, 276], center=true);

momo_mujoco/assets/center_cover.part

@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "6714f678e8260a18aa13db39",
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+    "documentVersion": "4dc1d862ef3155a7a076745b",
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+    "fullConfiguration": "default",
+    "id": "My6aM8DbarFZs50Uy",
+    "isStandardContent": false,
+    "name": "center_cover <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}