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lucen/laika-arm

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Laika Arm — 6-DoF fixed-base serial arm, 5.079 kg, RobStride + EduLite actuators. MJCF + robot card.

arm6 joints50 Hz5.08 kginterface11 filesdigests all verified by the hubarmmanipulatorfixed-basemujocorobstridelaikaadded
Laika Arm standing in its home keyframe
Rendered from the MJCF laika_arm_mjcf.xmlOpen in the Sim tab

README

README.md

Laika Arm

A 6-DoF serial arm, 5.079 kg, bolted to the world: Base_Link is welded to the world body and the model has no free joint, because an arm is bolted down. That makes it the second embodiment on this hub, and the first one that is not Laika-legs-shaped — same config schema, same actuators, same bridge, different base.

Five of its six motors are the biped's right leg. Converting the robot does not re-flash motor IDs; the bridge re-maps them by (bus, id).

FileWhat
laika_arm_mjcf.xmlMuJoCo model — 7 meshes, radian angles, meshdir=meshes/
meshes/*.stlLink geometry referenced by the model

Two things to know before you trust the numbers

  • The meshes here are decimated visual proxies. The Fusion export is 27 MB of raw tessellation for seven links; these are vertex-clustered down to 42,591 triangles / 2.1 MB, which is what a viewer needs and not what a collision hull or an inertia calculation needs. The source repo keeps the full-resolution originals, and every link's bounding box survives decimation to within 3 mm.
  • There is no keyframe. The legs' MJCF ships a standing pose; this model opens at qpos0, which is the as-modeled CAD pose — the folded stowage pose, with Link2 and Link3 each sitting on one of their own limits.

Using it

lucen pull lucen/laika-arm        # MJCF + meshes

Policies

Nothing trained for this robot yet. Train a policy, or from a shell:

lucen runs create \
  --template ppo_mujoco \
  --robot lucen/laika-arm \
  --executor worker