A desk-lamp robot in the style of Luxo Jr. that hops across the table. Five servos: a turntable in the base, two parallelogram arms with spring balance, a neck and the head. A Raspberry Pi 4 runs ROS with a PCA9685 servo driver and a BNO055 IMU; an IMX290 camera and a NeoPixel ring sit inside the bulb. The published intent is reinforcement-learning control; the repository is a work in progress.

Parts

The 22 printed parts are transcribed from the OpenSCAD source into parametric scripts, each within 0.05 mm mean deviation of the published STLs (bell: 0.02 mm). Servo cases, horns and the boards are nominal envelopes. The assembly models the two parallelograms rigid at the rest pose. The servos are set to their real stall torques and the balance springs are modelled as extension springs in the scene, with estimated stiffness since the author gives no spring specification; the simulated lamp crouches and extends but does not reproduce the hop.

Part	Part
base, base_cover	arm_top_0, arm_top_1
bottom_0 (yoke), bottom_1 (turntable)	vplate_1a (neck bracket, 2 plates)
arm_bottom_0 (2 plates), arm_bottom_1	neck, bell
vplate_0 (elbow bracket, 2 plates)	bulb_mount, bulb_insert, bulb_0, bulb_1
rod_0, rod_1, rod_2, spacer_0

Bill of materials

1 x Savox SH-0262MG (head), 4 x Savox SC-1251MG, Raspberry Pi 4, PCA9685 breakout, BNO055 breakout, IMX290 USB camera, 12-LED NeoPixel ring, 12 V to 6 V and 12 V to 5 V DC-DC converters, M5 bearings 5 x 10 x 4, M3 heat-set inserts, M5 button-head screws, tension springs, half of a 50 mm ornament sphere for the bulb.