MEVITA
Based on published sources · Not tested by us ·
Overview
Ten-joint biped with purchased actuators, machined and welded metal parts, and a ROS 1 learning-to-control workflow; external hardware rights and build completeness need separate checks. [S001]
MEVITA combines a ten-joint biped with a ROS 1 control workflow and a project-specific reinforcement-learning branch. The repository configuration assigns five joints to each leg, while the linked parts list specifies six AK70-10 and four AK10-9 actuators. This is a fabrication and controls research starting point, not a build reproduced by this catalog. [S001] [S006] [S008]
Specifications
| Detail | Description |
|---|---|
| Type | Biped with five controlled joints per leg. Reported by source [S001] [S008] · Checked 2026-09-30 |
| Intended users | Researchers equipped for metal fabrication, CAN actuator integration and learned locomotion experiments Editorial assessment [S001] · Checked 2026-09-30 |
| Assembly | External STEP manufacturing/assembly links and a parts list; complete assembly, wiring and commissioning have not been reproduced. Availability of filenames and links is not evidence of a complete manufacturing package. Editorial assessment [S005] [S007] · Checked 2026-09-30 |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Hardware and cost evidence
The linked hardware folder lists an assembly STEP file, separate manufacturing and 3D-printing folders, a parts spreadsheet and software archives. The parts sheet names welded A5052/SUS304 structures, machined A7075 components, TPU soles, a Jetson Orin Nano, two CAN-USB interfaces and a Livox MID-360. The folder and readable documents were inspected; the raw assembly-file transfer failed, so geometry, fit and manufacturing completeness remain unchecked. [S005] [S006] [S007]
The sheet's displayed sum is ¥1,727,737.8 / US$11,518.252 using its stated 150-yen conversion. Several printed parts and screws have no prices. These are source-sheet figures, not a current complete delivered quote; supplier prices, missing costs and configuration still need reconciliation. [S006]
Control and configuration boundaries
The README uses catkin and roscore, a Livox ROS driver branch, a haraduka/legged_gym training branch, policy export into models/policy.pt, and a MuJoCo --sim route. The pinned archive already contains a policy file, but its presence does not establish performance or reproducibility. Optional FAST_LIO and joystick dependencies add their own setup requirements. [S001] [S009]
There is also a concrete version check for builders: the README links AK10-9 V2.0 hardware, while parameters.py selects an AK10_9_V1p1 driver identifier. The names alone do not prove incompatibility, but the actual motor firmware and protocol parameter mapping must be verified before treating the configuration as matched. No motor commands, installations or locomotion tests were run here. [S001] [S008]
What is open and what remains unresolved
The repository has an MIT license. That does not independently settle the rights for externally hosted STEP files, weights or inherited helpers attributed to IsaacGym, LeggedGym and the T-Motor driver. The external hardware README provides links without an explicit hardware license in its inspected text. Motor “MIT mode” means the actuator's command mode, not a license grant. [S001] [S003] [S005] [S007]
MEVITA is therefore covered as a partial-source research project: useful control and model files are preserved, with hardware links and a detailed parts list, while full hardware rights, manufacturing validation and a current complete budget remain unresolved. [S001] [S005] [S006] [S009]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Available project sources support research coverage; complete build and commercial qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | available · License not fully assessed External STEP assembly and manufacturing folders are listed; explicit external hardware license and complete assembly validation not established. Raw STEP transfer to local workspace returned HTTP 403. [S005] [S007] |
| electronics | not found · License not fully assessed Purchased electronics BOM is supplied; no complete board-manufacturing source established. [S006] |
| firmware | not found · License not fully assessed Vendor actuator configuration is required; open actuator firmware source not established. Motor MIT mode is a protocol mode, not a copyright license. [S001] |
| software | available · MIT Root license applies as declared by repository; README attributes inherited helpers to IsaacGym, LeggedGym and a third-party T-Motor driver. Their full provenance and external training dependency terms remain separate. [S001] [S003] |
| model weights | available · License not fully assessed Pinned archive contains policy.pt; separate weight-specific rights, training provenance and reproduced performance not established. [S001] [S009] |
| documentation | available · MIT MIT identification is scoped to repository documentation; external Drive documents do not show a separate rights grant in the inspected text. [S001] [S003] [S005] [S006] |
Selected workflow trains locomotion in simulation; no separately distributed dataset is selected.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · haraduka / project contributors
Upstream project overview
Accessed 2026-09-30 · README.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S002 · haraduka / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · c32976a31d150a333b9b1fbab456c0b8f5822cdcSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S003 · haraduka / project contributors
Repository license
Accessed 2026-09-30 · LICENSESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S004 · haraduka / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · c32976a31d150a333b9b1fbab456c0b8f5822cdc archive file inventorySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S005 · haraduka / project contributors
MEVITA linked hardware readme
Accessed 2026-09-30 · Drive readable-text snapshot; modified 2025-05-16T01:28:25.021ZSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S006 · haraduka / project contributors
MEVITA linked hardware parts
Accessed 2026-09-30 · Drive readable-text snapshot; modified 2026-06-12T11:10:29.727ZSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S007 · haraduka / project contributors
Linked hardware folder inventory
Accessed 2026-09-30 · Direct-child metadata; raw STEP preservation failed with HTTP 403; no geometry validationSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S008 · haraduka / project contributors
Pinned robot joint configuration
Accessed 2026-09-30 · scripts/parameters.pySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S009 · haraduka / project contributors
Complete pinned repository filenames
Accessed 2026-09-30 · Complete archive filename inventory; not a completeness testSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1