cadSet/text-to-cad/models/robots/juno/README.md

juno — compact humanoid robotics platform concept

A sleek research-humanoid CAD concept with Unitree-G1-like proportions: ~1.40 m tall, athletic ready stance, exposed cylindrical actuator modules at every joint, warm-porcelain composite shells over graphite structure with machined-aluminum joint rims, coral-orange accents on repeated functional details (actuator hubs, toe/heel bumpers, head vents, fingertip pads), a gloss midnight-blue sensor visor displaying cyan pixel-grid eyes (Anki Cozmo style), and dexterous five-digit hands. Clean industrial design, no logos.

Degrees of freedom (27 body DOF)

Group	Joints	DOF
Each leg (x2)	hip yaw, hip roll, hip pitch, knee, ankle pitch, ankle roll	12
Each arm (x2)	shoulder pitch, shoulder roll, shoulder yaw, elbow, wrist roll, wrist pitch	12
Waist	yaw	1
Neck	yaw, pitch	2

Hands add posed (cosmetic) finger articulation on top of the 27 counted DOF.

Files

• juno.py — build123d generator (gen_step()); authoritative source. Pose angles are module-level parameters; joints are authored as cadpy.assembly.AssemblyHelper revolute frames driven by those angles. Also exposes gen_urdf() / gen_srdf() for the robot description.
• juno_parts/ — part-builder package (sculpted segments, joint hardware, shared style library). Each builder returns an identity-location labeled compound in its part-local frame. chain.py is the shared kinematic chain/pose/limit spec used by both the CAD assembly and the URDF/SRDF generators; description.py emits the URDF/SRDF XML; mass_props.py holds baked CAD volume/COM/inertia/bbox data.
• juno.step — generated STEP assembly (derived artifact).
• .juno.step.js — CAD Viewer animation sidecar with four in-place gaits built on per-frame chain FK plus two-link leg IK around the baked athletic stance: walkLoop (march, planted stance feet), strideLoop (treadmill-style strides, stance foot slides flat on the ground), runLoop (flight phases, body bounce, toe-pivot push-off, pumping bent arms, forward lean), and jumpLoop (countermovement hop with hands overhead and an underdamped springy landing). All gaits share antiphase arm swing, torso counter-sway, and head stabilization. Three showpiece loops: danceLoop (Elvis: right finger pointing up to the right, left leg kicked out to the left on a shaking planted toe via closed-form lateral+sagittal leg IK), handstandLoop (toe-pivot fold to a palms-flat inverted hold, whole-body root rotation with per-frame toe/palm contact anchoring), and kickLoop (chambered karate front kick behind a fists-up guard). Controls: phase, gait, strideLength, legLift, armSwing, torsoSway. Occurrence refs #o1.1..#o1.28 follow the asm.add order in juno.py.
• juno.urdf — generated URDF (derived artifact): a frame-only base_footprint ground root plus 28 physical links and 27 revolute joints (zero pose stands with soles on z = 0), per-link 3MF mesh visuals, bbox collisions, CAD-derived inertials at an assumed 35 kg total mass.
• juno.srdf — generated MoveIt2 SRDF (derived artifact): limb/torso/head planning groups, hand end effectors, disabled collisions, and whole-body group states (zero, athletic_ready, t_pose, wave_right, squat).
• STEP/ — per-link wrapper sources (gen_step() per link) and their generated STEP parts; 3MF/ — per-link mm mesh sidecars referenced by the URDF.

Conventions

Units mm. Pelvis waist-yaw joint center is the world origin; +X forward, +Y robot-left, +Z up. Soles rest near z = -774 in the default stance. Regenerate with the CAD skill: python scripts/step models/robots/juno/juno.py. Regenerate link meshes per link with the CAD skill, e.g. python scripts/step models/robots/juno/STEP/<link>.py --3mf ../3MF/<link>.3mf. Regenerate the robot description with the URDF/SRDF skills: python scripts/urdf models/robots/juno/juno.py=models/robots/juno/juno.urdf and python scripts/srdf models/robots/juno/juno.py=models/robots/juno/juno.srdf.