https://github.com/pollen-robotics/otis
Otis: the handwriting tool for Reachy 2019
https://github.com/pollen-robotics/otis
Last synced: 30 days ago
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Otis: the handwriting tool for Reachy 2019
- Host: GitHub
- URL: https://github.com/pollen-robotics/otis
- Owner: pollen-robotics
- Created: 2020-11-16T17:30:42.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2021-09-02T16:29:52.000Z (over 3 years ago)
- Last Synced: 2025-04-19T16:12:53.532Z (about 1 month ago)
- Language: Python
- Homepage:
- Size: 317 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Otis - the handwriting tool for Reachy 2019
## Software installation
* From Pypi: ```pip install reachy-otis```
* Or from the source: ```pip install -e otis_folder```
## Mechanism
Link parameters:
- RA = 30mm
- RB = 30mm
- LA = 60mm
- LB = 50mm
- d = 15mm
- A (40mm , 45mm)
- B (90mm, 35mm)
The forward function is defined [here](https://github.com/pollen-robotics/otis/blob/main/otis/kinematics.py#L48) and the inverse function [here](https://github.com/pollen-robotics/otis/blob/main/otis/kinematics.py#L100)
## Reacheable space
Here is the reachable space for the otis hand (value in mm). Origin is the wrist rotation axis.
A SVG file is available in /doc
## Mechanics (CAD)
You can get acces to all CAD file on our OnShape account => https://cad.onshape.com/documents/bc0741d6e41e05a3a7a83404/
## Licence
The software is open-sourced and released under an [Apache License v2.0](./software/LICENSE).
Visit [pollen-robotics.com](https://pollen-robotics.com) to learn more or visit [our forum](https://forum.pollen-robotics.com).
Follow [@PollenRobotics](https://twitter.com/pollenrobotics) on Twitter for important announcements.
This project adheres to the Contributor [code of conduct](https://github.com/pollen-robotics/reachy/blob/master/CODE_OF_CONDUCT.md). By participating, you are expected to uphold this code. Please report unacceptable behavior to [[email protected]](mailto:[email protected]).