Optimus Prime G1 — Full Simulation Engine v17.0

An open-source Autodesk Fusion 360 simulation suite that programmatically builds a fully-articulated, 3D-printable Optimus Prime G1 robot and runs a 9-module kinematic simulation — all driven remotely via the Model Context Protocol (MCP).

This project brings the legendary Autobots leader from the Transformers franchise to life — from the 1984 Generation 1 animated series and the live-action movie designs — as the first fully working 3D-printable CAD model of Optimus Prime with complete servo-driven kinematic simulation, robot-to-truck transformation, and FDM-printable hardware integration.

Quick Start

# 1. Enable MCP: Fusion 360 → Tools → Scripts & Add-Ins → MCP Server → Run
# 2. Clone and run:
git clone https://github.com/itsPremkumar/Optimus_Prime.git
cd Optimus_Prime
python src/run_simulation.py --module robot --capture

Done. The robot builds, assumes the standing pose, and saves 6 screenshots to output/screenshots/. See Setup & Running for details.

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Truck Mode — Multi-Angle Renders

Front	Back	Left

Right	Top	Isometric

Robot Mode — Multi-Angle Renders

Front	Back	Left

Right	Top	Isometric

Demo Videos

Transformation	Truck Mode	Robot Mode

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What Is This?

This project is a Python script (src/optimus_v17.py) that connects to Autodesk Fusion 360 through its MCP server and automatically:

1. Builds a complete Optimus Prime G1 3D model with 100+ components
2. Applies materials (red/blue metallic paint, chrome, rubber, glass)
3. Creates all joints (revolute, ball, rigid) and validates the kinematic chain
4. Runs 9 simulation modules covering full-body motion
5. Exports STL files and a URDF skeleton for 3D printing and robotics toolchains

Zero external Python dependencies — uses only the standard library.

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Inspiration & Concept

This robot is inspired by Optimus Prime, the iconic leader of the Autobots from the Transformers franchise (created by Hasbro/Takara in 1984). The design draws from the Generation 1 (G1) aesthetic — the classic red-and-blue cab-over semi-truck that transforms into a battle-ready robot.

What makes this project unique:

• First fully working 3D-printable Optimus Prime CAD model with real servo kinematics
• Complete transformation sequence — Robot ↔ Truck with all 9 stages programmed
• Realistic hardware — every servo, bearing, bracket, and wire channel is modelled for actual fabrication
• Open-source simulation — runs entirely in Fusion 360 via MCP, no proprietary tools required

The model is designed as a working prototype — not just a static figure — with:

• 24 servo motors controlling 18 joints across the full body
• 6 TT gear-motor wheels for driving in truck mode
• 23 bearings, 11 U-brackets, 16 screw holes, and 12 magnet pockets for assembly
• 0.60 mm FDM clearance on all moving parts for 3D printing

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Features

• Full 3D model — 100+ body components (torso, head, pelvis, arms, legs, backpack, ion blaster)
• 9 simulation modules — ROM test, head scan, wave, breathing, walking, running, combat, transformation, stability
• MCP-driven — remote control via Fusion 360's Model Context Protocol
• 3D-printable — 0.60 mm clearance, Y-axis midplane shell splitting, M3 screw holes, magnet pockets
• Zero dependencies — Python standard library only
• CLI control — run single modules, stop mid-simulation, capture screenshots

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Technical Specifications

Hardware Inventory (Total: 114+ components)

Component Type	Quantity	Details
Servo Motors	24 total	18× MG996R (standard) + 6× MG90S (micro)
TT Gear Motors	6	Yellow gearbox + chrome motor body + rubber tire/wheel assemblies
Bearings	23	5 sizes (ro 0.80–1.30) for hip, knee, shoulder, elbow, wrist, ankle, waist, roof, steer
Screw Holes (M3)	16	Pre-cut in torso, thighs, shins, upper arms, forearms
Magnet Pockets	12	Ø6.4 × 3.5 mm — waist lock, knee locks, roof lock
Wire Channels	9	Spine (ø12 mm), legs (ø10 mm), arms (ø8 mm)
U-Brackets	11	Waist (2), neck, hips (2), knees (2), shoulders (2), elbows (2)
Joints	18 total	10 ball joints (3-DOF), 5 revolute (1-DOF), 3 rigid (0-DOF)
Top-Level Assemblies	19	Torso, head, pelvis, thighs, shins, feet, upper arms, forearms, hands, blaster, backpack, steer pods, shields

Servo Motor Breakdown

Servo Model	Rating	Qty	Locations
MG996R-HD (Heavy Duty)	20.0–25.0 kg·cm	3	Waist yaw, waist pitch, (hip option)
MG996R (Standard)	9.4 kg·cm	15	Hips, knees, ankles, shoulders, elbows
MG90S (Micro)	1.8 kg·cm	6	Neck yaw, wrists (×2), roof hinge, steering (×2)

#	Servo Tag	Function	Component	Axis
1	Waist_Yaw	Waist rotation	OP_Torso	z
2	Waist_Pitch	Waist tilt	OP_Torso	x
3	Neck_Pitch	Head nod	OP_Torso	x
4	Neck_Yaw	Head turn	OP_Head	z
5–6	L/R_HipYaw	Hip rotation	OP_Pelvis	z
7–8	L/R_HipP	Hip pitch (leg lift)	OP_Thigh	x
9–10	L/R_HipR	Hip roll (leg spread)	OP_Thigh	y
11–12	L/R_KneP	Knee bend	OP_Thigh	x
13–14	L/R_ShY	Shoulder yaw	OP_UpperArm	z
15–16	L/R_ShP	Shoulder pitch (arm lift)	OP_UpperArm	x
17–18	L/R_ShR	Shoulder roll	OP_UpperArm	y
19–20	L/R_ElbP	Elbow bend	OP_UpperArm	x
21–22	L/R_WR	Wrist rotation	OP_Forearm	x
23	Roof_Hinge	Backpack roof fold	OP_Backpack	x
24–25	SSrv_L/R	Steer pod steering	OP_SteerPods	z

TT Motor / Wheel Assembly (6 units)

Wheel	Location	Component	Tire Size
L/R Front Wheels	Shin front	OP_Shin_L/R	r=3.25 × w=2.60
L/R Rear Wheels	Shin rear	OP_Shin_L/R	r=3.25 × w=2.60
L/R Steer Wheels	Steer pods	OP_SteerPods	r=3.25 × w=2.60

Each assembly includes: yellow gearbox (2.30×5.20×1.90), chrome motor body (r=0.90), steel shaft (r=0.20), chrome rim (r=2.20), rubber tire (r=3.25).

Servo Load Analysis

Joint	Load Mass	Lever Arm	Torque Needed	Servo Used	Rating	Margin
Waist Pitch	2100 g	8.0 cm	16.8 kg·cm	MG996R-HD	25.0 kg·cm	1.49x
Hip Pitch	820 g	15.0 cm	12.3 kg·cm	MG996R-HD	20.0 kg·cm	1.63x
Knee Pitch	540 g	9.0 cm	4.86 kg·cm	MG996R	9.4 kg·cm	1.93x
Shoulder Pitch	390 g	12.0 cm	4.68 kg·cm	MG996R	9.4 kg·cm	2.01x
Elbow	210 g	7.0 cm	1.47 kg·cm	MG996R	9.4 kg·cm	6.39x
Neck Pitch	120 g	3.0 cm	0.36 kg·cm	MG90S	1.8 kg·cm	5.00x

All joints operate with ≥1.49x safety margin — verified through simulation.

Vertical Layout (Z-axis spacing — model units)

Section	Z Position	Height from Ankle
Ankle Center	3.8	0.0 (base)
Shin Center	9.3	+5.5
Knee Center	14.8	+11.0
Thigh Center	20.3	+16.5
Pelvis Center	30.5	+26.7
Waist Center	32.5	+28.7
Hip Joint	26.8	+23.0
Torso Center	36.0	+32.2
Elbow	35.0	+31.2
Shoulder Center	41.5	+37.7
Neck Joint	44.5	+40.7
Head Center	47.5	+43.7

Overall height: ~47.5 cm (approx. 19 inches, 1:10 scale).

Materials & Appearance (12 finishes)

Material	RGB / Look	Used On
Op-Red (Metallic)	Red paint	Torso shell, thighs, feet, forearms, backpack
Op-Blue (Metallic)	Blue paint	Pelvis, shins, helmet, shoulder guards, hip shields
Chrome	Mirror chrome	Grille, bumpers, faceplate, exhausts, rims, badge
Dark Metal	Steel flat	Inner frame, blaster body, thigh links, exhaust blocks
Glass Clear	Window glass	Chest windows, headlights, visor
Rubber Black	Matte rubber	Tires
Grey Plastic	Matte grey	Hands, fingers
Dark Grey	Matte dark grey	Backpack core, steer pods, hinge blocks
Black Plastic	Matte black	Battery bay, controller bay
Gold	Metallic gold	Antenna tips
Yellow Metallic	Yellow paint	TT gearbox housings
White Plastic	Glossy white	Servo horns

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Requirements

• Autodesk Fusion 360 with MCP server running on http://127.0.0.1:27182/mcp
• Python 3.8+ (standard library only — no extra packages needed)

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Setup & Running

1. Enable MCP Server in Fusion 360

The MCP (Model Context Protocol) server must be running in Fusion 360 before you can run the simulation.

Fusion 360 v19.0+ (Built-in MCP):

1. Open Fusion 360
2. Go to Tools → Scripts and Add-Ins (or press Shift+S)
3. Select the MCP Server entry and click Run

Alternatively, command line (PowerShell):

& "C:\Program Files\Autodesk\Fusion 360\FusionLauncher.exe" --mcp

Verify MCP is running: Open a browser and navigate to http://127.0.0.1:27182/mcp — you should see a JSON-RPC response.

2. Clone and Run

# Clone the repo
git clone https://github.com/itsPremkumar/Optimus_Prime.git
cd Optimus_Prime

# Full simulation (all 9 modules)
python src/run_simulation.py

# Single module
python src/run_simulation.py --module walk

# Capture screenshots during simulation
python src/run_simulation.py --capture

# Run robot standing pose
python src/run_simulation.py --module robot

# Run truck mode transformation
python src/run_simulation.py --module truck --capture

# Stop a running simulation (create the stop-flag file the engine watches for)
# Windows (bash):   touch output/stop.flag
# PowerShell:       New-Item -Path output\stop.flag -ItemType File -Force
# Note: --stop is NOT a CLI flag; the engine polls output/stop.flag each frame.

Note: On first run, run_simulation.py will auto-detect and launch Fusion 360 if it's not already running. The MCP server typically takes 30–60 seconds to become available.

3. CLI Options

Option	Default	Description
--module	ALL	Module to run: ALL, rom, head, wave, breathing, walk, run, combat, transform, truck, robot, stability, servo
--capture	off	Capture 6 multi-angle viewport screenshots (Front, Back, Left, Right, Top, Isometric)
--mcp-url	http://127.0.0.1:27182/mcp	Custom MCP server URL
--no-launch	off	Skip auto-launch of Fusion 360 (use if manually started)
--keep-docs	off	Keep existing documents open (default closes all documents first)
--output-dir	../output	Root directory for logs, screenshots, and exports

Stopping a run: there is no --stop flag. Create the file output/stop.flag (e.g. touch output/stop.flag) — the engine polls for it every frame and exits cleanly when found.

4. How MCP Communication Works

The system uses JSON-RPC 2.0 over HTTP to communicate with Fusion 360's built-in MCP server:

┌─────────────┐     HTTP POST (JSON-RPC)     ┌──────────────┐
│  Your PC    │ ──────────────────────────▶  │ Fusion 360   │
│  run_sim.py │                               │ MCP Server   │
│  (Python)   │ ◀──────────────────────────  │ (127.0.0.1)  │
└─────────────┘     Script result + logs     └──────┬───────┘
                                                    │
                                           ┌────────▼────────┐
                                           │ adsk.core /     │
                                           │ adsk.fusion API │
                                           │ (Fusion 360)    │
                                           └─────────────────┘

Step-by-step flow:

1. run_simulation.py connects to the MCP server at http://127.0.0.1:27182/mcp
2. Sends an initialize JSON-RPC request to establish a session
3. Closes any open documents (via embedded prologue script)
4. Sends the optimus_v17.py payload via fusion_mcp_execute tool call
5. Fusion 360 executes the script using its internal Python API (adsk modules)
6. The script builds the model, runs the selected module, and captures output
7. Results (logs, screenshots, exports) are written to the output/ directory
8. run_simulation.py prints the execution log returned by Fusion

Key details:

• MCP sessions persist across requests — a session ID is stored after initialization
• The payload script runs with full Fusion 360 API privileges (same as Scripts & Add-Ins)
• Timeout is set to 3600 seconds (1 hour) for long simulations
• If a dialog is blocking execution, Escape key is sent to dismiss it and the script retries

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Project Structure

Optimus_Prime/
├── src/                           # Source code
│   ├── optimus_v17.py             # Main Fusion 360 script (model + simulation engine)
│   ├── optimus_v16.py             # Previous version (v16 — reference only)
│   ├── optimus_v15.py             # Previous version (v15 — reference only)
│   ├── run_simulation.py          # CLI controller — sends the script to Fusion 360
│   ├── pipeline.py                # Build pipeline — sim + capture + validate + manifest
│   ├── capture_optimus.py         # Multi-angle viewport screenshot capture
│   └── config.json                # Pipeline configuration
├── old_code/                      # Archived legacy versions (v6–v14)
├── images/                        # Saved viewport screenshots
├── videos/                        # Demo videos (transformation, truck mode, robot mode)
├── .github/                       # GitHub issue/PR templates
├── CHANGELOG.md                   # Version history
├── CODE_OF_CONDUCT.md             # Community standards
├── CONTRIBUTING.md                # Contribution guidelines
├── LICENSE                        # MIT License
├── README.md                      # Project overview and usage
├── SECURITY.md                    # Security policy
└── .gitignore

Simulation Modules

#	Module	Duration	Description	Key Angles
1	Joint ROM Test	~30s	Sweeps every joint min→0→max, samples collisions at each extreme	All joints full range
2	Head Look-Around	~8s	5-position scan (left, right, up, down, centre)	Neck yaw ±20°, pitch ±45°
3	Wave Gesture	~10s	Full right-arm raise and 3× wrist wave	ShP -90°, Elbow 90°, Wrist ±90°
4	Idle Breathing	~12s	4-cycle subtle torso oscillation (waist pitch ±2°)	Waist pitch ±2°
5	Advanced Walking	~20s	4 cycles with hip sway, arm counter-swing, ankle push-off	Hip ±30°, Knee 0→60°, Ankle ±15°
6	Running	~15s	3 cycles, exaggerated fast gait	Hip ±45°, Knee 0→90°, faster cadence
7	Combat Sequence	~12s	Right cross → blaster aim → forearm block → left uppercut	Multi-axis arm & torso
8	Transformation	~30s	Robot → Truck (9 stages) + driving + reverse transformation	All joints coordinated
9	Stability + Loads	~5s	CoM check for 4 poses + static servo torque table	Attention/Combat/Squat/Victory

Capture Screenshots

python src/capture_optimus.py

Saves 6 viewport renders (Front, Back, Left, Right, Top, Isometric) to images/.

Truck mode renders: optimus_truck_Front.png, optimus_truck_Back.png, optimus_truck_Left.png, optimus_truck_Right.png, optimus_truck_Top.png, optimus_truck_Iso.png.

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Model Overview

Body Components (19 Assemblies, 140+ Bodies)

Component	Bodies	Key Parts	Color Scheme
OP_Torso	42	Shell, chest windows (glass), grille (chrome), bumper, headlights, battery bay, spine beam, controller bay, collars, transformation flaps	Red/Blue/Chrome
OP_Head	15	Helmet, crest, ears, faceplate (chrome), visor (glass), mouth grille, antennas with gold tips	Blue/Chrome/Gold
OP_Pelvis	7	Pelvis shell, inner frame, hip armour (L/R), crotch plate	Blue/Chrome/Red
OP_Thigh (×2)	~13 each	Thigh link (chrome), outer shell (red), front plate (blue), 2× bearings	Red/Blue/Chrome
OP_Shin (×2)	~10 each	Shin link (blue), armour (chrome), rear panel (grey), beam, foot tuck cavity, bearings	Blue/Chrome/Grey
OP_Foot (×2)	~8 each	Sole (red), heel block (grey), toe block (grey), ankle guard (chrome), boot fin (blue)	Red/Grey/Chrome
OP_UpperArm (×2)	~13 each	Shoulder block (red), guard (blue), exhaust stacks (chrome), link (red)	Red/Blue/Chrome
OP_Forearm (×2)	~6 each	Forearm link (blue), fender (red), back panel (chrome)	Blue/Red/Chrome
OP_Hand (×2)	~4 each	Palm (grey), fingers (grey), thumb (chrome), hand panel (red)	Grey/Chrome/Red
OP_Ion_Blaster	6	Barrel (metal), tip (chrome), body (metal), guard (chrome), hinge, scope	Dark Metal/Chrome
OP_Backpack	8	Core (grey), hood (red), top flap (red), radiator (chrome), exhausts ×2	Red/Grey/Chrome
OP_SteerPods	~7	Steer arms (chrome) ×2, steer pods (grey) ×2, steer wheels ×2	Chrome/Grey
OP_Shields	8	Shoulder shields (chrome) ×2, hinges ×2, mirrors ×2, hip shields (blue) ×2	Chrome/Blue

Kinematic Tree (Joint Hierarchy)

Grounded: OP_Pelvis
  ├── OP_Torso (ball_joint: Waist_Cluster @ z=30.0)
  │   ├── OP_Head (ball_joint: Neck_Cluster @ z=44.5)
  │   ├── OP_Backpack (rigid_joint: Backpack_Mount)
  │   ├── OP_Shields (rigid_joint: Shields_Mount)
  │   ├── OP_UpperArm_L (ball_joint: L_Shoulder_Cluster @ z=41.5)
  │   │   └── OP_Forearm_L (revolute_joint: L_Elbow @ z=35.0)
  │   │       └── OP_Hand_L (ball_joint: L_Wrist @ z=29.8)
  │   └── OP_UpperArm_R (ball_joint: R_Shoulder_Cluster @ z=41.5)
  │       └── OP_Forearm_R (revolute_joint: R_Elbow @ z=35.0)
  │           └── OP_Hand_R (ball_joint: R_Wrist @ z=29.8)
  │               └── OP_Ion_Blaster (revolute_joint: Blaster_Fold)
  ├── OP_SteerPods (rigid_joint: Steer_Mount)
  ├── OP_Thigh_L (ball_joint: L_Hip_Cluster @ z=26.8)
  │   └── OP_Shin_L (revolute_joint: L_Knee @ z=16.3)
  │       └── OP_Foot_L (ball_joint: L_Ankle_Cluster @ z=6.0)
  └── OP_Thigh_R (ball_joint: R_Hip_Cluster @ z=26.8)
      └── OP_Shin_R (revolute_joint: R_Knee @ z=16.3)
          └── OP_Foot_R (ball_joint: R_Ankle_Cluster @ z=6.0)

Joint Classification & Limits

Joint	Type	DOF	Limits (Pitch/Yaw/Roll)	Servo Group
Waist_Cluster	Ball	3	(-45,60) / (-15,15) / (-15,15)	2× MG996R-HD
Neck_Cluster	Ball	3	(-90,45) / (-20,20) / (-20,20)	MG996R + MG90S
L/R_Hip_Cluster	Ball	3	(-30,30) / (-95,95) / (-30,30)	2× MG996R-HD + MG996R
L/R_Knee	Revolute	1	(0,135)	MG996R
L/R_Ankle_Cluster	Ball	3	(-20,20) / (-30,95) / (-20,20)	MG996R
L/R_Shoulder_Cluster	Ball	3	(-175,60) / (-90,90) / (-90,90)	2× MG996R
L/R_Elbow	Revolute	1	(0,150)	MG996R
L/R_Wrist	Ball	3	(0,90) / (-180,180) — pitch/roll	MG90S
Blaster_Fold	Revolute	1	(-90,0)	—

3D Printing Specifications

• Clearance: 0.60 mm on all moving fits (FDM-optimized, increased from 0.45 mm in v7)
• Shell Splitting: All major bodies halved along Y-axis midplane for FDM printing
• Auto-split tags: Shell, Link, Main, Armor, Core, Pod, Palm, Block, Sole
• Fasteners: M3 screw holes (r=0.15 model units, 16 locations)
• Magnets: Ø6.4 × 3.5 mm pockets (12 locations) for snap-fit assembly
• Wire Channels: Pre-cut tunnels (ø8–12 mm) for servo cable routing through spine, arms, and legs
• Shrinkage: Apply FDM shrinkage compensation in slicer (typical 0.5–1.0%)

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Output Files

File	Description
output/logs/optimus_fusion_log_*.txt	Timestamped execution log with all module results and collision details
output/exports/robot.urdf	Minimal URDF skeleton for robotics toolchain import (ROS, Gazebo, etc.)
output/exports/Optimus_Prime_G1_v17.f3d	Fusion 360 archive of the full model
output/exports/Optimus_Prime_G1_v17.step	STEP assembly file for CAD import (SolidWorks, CATIA, FreeCAD, etc.)
output/exports/robot_v17.urdf	URDF kinematic skeleton for ROS / Gazebo / MoveIt
output/BOM_v17_*.csv	Bill of materials (fasteners, bearings, electronics, filament)
output/ASSEMBLY_GUIDE_v17_*.txt	Step-by-step assembly guide
output/screenshots/*.png	Viewport screenshots (1920×1080) from capture_optimus.py

Export flags are controlled at the top of src/optimus_v17.py:

• EXPORT_STL = True/False — batch export all printable bodies as .stl
• EXPORT_STEP = True/False — export full assembly as .step
• EXPORT_URDF = True/False — export kinematic skeleton as .urdf

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Advanced Use Cases

Robotics Education & Prototyping

• Kinematic validation: Verify joint ranges, torque requirements, and stability before building the physical robot
• Servo sizing: The integrated load analysis table helps select correct servo ratings for each joint
• Gait development: Design and test walking gaits, running cycles, and transformation sequences in simulation before deploying to hardware
• Collision detection: Joint ROM test sweeps every axis and records collision events at extreme poses

3D Printing & Fabrication

• Ready-to-print STLs: Set EXPORT_STL = True to batch-export all bodies as individual .stl files
• STEP export: Export full assembly as .step for professional CAD/CAM workflows (CNC machining, injection molding)
• FDM-optimized: 0.60 mm clearance on all joints, Y-axis midplane shell splitting, M3 screw holes, magnet pockets, and wire channels pre-integrated
• Hardware integration: Every servo cavity, bearing seat, and bracket is modelled with exact clearance — no manual fitting required

Robotics Research

• URDF export: The kinematic skeleton exports as .urdf for use with ROS, Gazebo, MoveIt, or your own simulation framework
• Modular architecture: Each body part is a separate component — swap, modify, or replace individual sections without affecting the assembly
• Parameter-driven: All dimensions, clearances, servo specs, and joint limits are defined as constants at the top of the script — tweak and regenerate in seconds

Full-Stack Robotics Pipeline

Fusion 360 (MCP) → CAD model → STEP/STL export → 3D printing / CNC
                             → URDF export → ROS simulation → hardware control
                             → F3D archive → version control → collaboration

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3D Printing Notes

• Clearance on all moving fits: 0.60 mm
• All major shells are split along the Y-axis midplane for FDM printing
• Bodies tagged with Shell, Link, Main, Armor, Core, Pod, Palm, Block, or Sole are automatically halved
• Screw holes (M3), magnet pockets (Ø6.4 × 3.5 mm), and wire channels are pre-cut into the geometry
• Apply shrinkage compensation in your slicer before printing

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Frequently Asked Questions

What is Optimus Prime G1?

Optimus Prime is the iconic leader of the Autobots from the Transformers franchise. The "G1" refers to the Generation 1 design from the 1980s — the classic red-and-blue truck form.

Does this work without Fusion 360?

No. This script runs inside Autodesk Fusion 360 via its MCP server. It is not a standalone simulation.

Can I 3D print the robot?

Yes. The model is designed for FDM 3D printing with 0.60 mm clearance on all moving fits, shell splitting along the midplane, M3 screw holes, and magnet pockets (Ø6.4 × 3.5 mm).

What Python packages are required?

None. The project uses only Python's standard library (urllib, json, os, argparse). The Fusion 360 script uses the adsk API which is built into Fusion 360.

How do I run only one simulation module?

Use --module flag: python run_simulation.py --module walk

What is MCP?

Model Context Protocol (MCP) is a JSON-RPC 2.0 protocol built into Fusion 360 that allows external applications (like this Python script) to communicate with Fusion 360 remotely. The MCP server listens on http://127.0.0.1:27182/mcp and can execute scripts, query the model, and control the viewport. See the Setup & Running section above for how to enable it.

How do I stop a simulation mid-run?

There is no --stop CLI flag. From another terminal, create the file output/stop.flag (e.g. touch output/stop.flag, or in PowerShell New-Item -Path output\stop.flag -ItemType File -Force). The simulation engine polls for this file every frame and exits cleanly when it appears.

How many servos does the robot use?

24 total: 18× MG996R standard servos (9.4 kg·cm) for hips, knees, ankles, shoulders, elbows + 6× MG90S micro servos (1.8 kg·cm) for neck yaw, wrists, roof hinge, and steering.

How does the transformation work?

The transformation sequence moves through 9 stages: legs fold, knees retract, torso compresses, arms reposition, backpack opens, panels rotate, and the robot compacts into truck mode. The reverse sequence restores robot mode.

Can I export the model for other CAD tools?

Yes. Set EXPORT_STEP = True to generate a .step file compatible with SolidWorks, CATIA, FreeCAD, Onshape, and other CAD tools. STL export for 3D printing and URDF for robotics toolchains are also supported.

Is this a real working robot or just a simulation?

This is a kinematic simulation in Fusion 360 — all joints, motors, and transformations are animated digitally. The model is designed to be 3D-printable and includes all hardware provisions (servo cavities, bearings, screws, magnets, wire channels) for building a physical replica.

How long does the full simulation take?

The complete 9-module simulation runs in approximately 2–3 minutes in Fusion 360, depending on system performance. Individual modules run in 5–30 seconds.

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Contributing

We welcome contributions! See CONTRIBUTING.md for guidelines.

Please adhere to the Code of Conduct in all interactions.

License

This project is licensed under the MIT License — see the LICENSE file for details.

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_{Built with Python · Powered by Autodesk Fusion 360 · GitHub}