Thanks for sharing. Great job.

I'm just a robotics addicted and not "expert" even if I aquired some experience and learned a lot during this past decades. This first step of reverse engineering allowed me to understand the Bittle project woch is really much more than a toy. Good ideas, astucious mechanical choices... I'll try to go further, and provide a URDF. Not looking for a massive evolution of Bittle, but a just more robust (keeping a kind of PETOI's elastic joints), accurate and a little more "massive",... Code name PHOEBE ;) I did not really looked at the similation software, let's check..