From 95b7a5ade502a74475fdcd13d7a3c4f963d29508 Mon Sep 17 00:00:00 2001
From: Charles Madjeri <80175305+charlesmadjeri@users.noreply.github.com>
Date: Sun, 21 Sep 2025 13:56:22 +0200
Subject: [PATCH 1/6] hotfix(docs): update inmoov license refs (#3)

Signed-off-by: Charles Madjeri <charles@madjeri.com>
---
 InMoov-IsaacSim/meshes/stl/ATTRIBUTION.md |  8 ++++++++
 InMoov/meshes/stl/ATTRIBUTION.md          |  8 ++++++++
 Readme.md => README.md                    | 18 ++++++++++++++++--
 3 files changed, 32 insertions(+), 2 deletions(-)
 create mode 100644 InMoov-IsaacSim/meshes/stl/ATTRIBUTION.md
 create mode 100644 InMoov/meshes/stl/ATTRIBUTION.md
 rename Readme.md => README.md (82%)

diff --git a/InMoov-IsaacSim/meshes/stl/ATTRIBUTION.md b/InMoov-IsaacSim/meshes/stl/ATTRIBUTION.md
new file mode 100644
index 0000000..02a0f40
--- /dev/null
+++ b/InMoov-IsaacSim/meshes/stl/ATTRIBUTION.md
@@ -0,0 +1,8 @@
+# Attribution for InMoov-Derived Files
+
+The 3D models, CAD files, Blender files, and STL files in this directory are derived from InMoov by Gael Langevin.
+
+**Original Creator:** Gael Langevin  
+**Original Work:** InMoov (http://inmoov.fr/)  
+**License:** Creative Commons Attribution-NonCommercial (CC BY-NC) 4.0  
+**Modifications:** Original blender files exported to STL files split for URDF meshes
\ No newline at end of file
diff --git a/InMoov/meshes/stl/ATTRIBUTION.md b/InMoov/meshes/stl/ATTRIBUTION.md
new file mode 100644
index 0000000..02a0f40
--- /dev/null
+++ b/InMoov/meshes/stl/ATTRIBUTION.md
@@ -0,0 +1,8 @@
+# Attribution for InMoov-Derived Files
+
+The 3D models, CAD files, Blender files, and STL files in this directory are derived from InMoov by Gael Langevin.
+
+**Original Creator:** Gael Langevin  
+**Original Work:** InMoov (http://inmoov.fr/)  
+**License:** Creative Commons Attribution-NonCommercial (CC BY-NC) 4.0  
+**Modifications:** Original blender files exported to STL files split for URDF meshes
\ No newline at end of file
diff --git a/Readme.md b/README.md
similarity index 82%
rename from Readme.md
rename to README.md
index 3df2188..30c5d81 100644
--- a/Readme.md
+++ b/README.md
@@ -66,9 +66,23 @@ To find out more on how you can contribute to the project, please check our [CON
 
 ---
 
-## 📜 License
+## 📜 License and Attribution
 
-This project is licensed under the **GNU GPL V3 License**. See the [LICENSE](LICENSE) file for details.
+### Project License
+
+- **Original project code/files:** GNU GPL V3 License
+- **InMoov-derived files:** CC BY-NC 4.0 (as specified below)
+ 
+See the [LICENSE](LICENSE) file for details.
+
+### InMoov-Derived Components
+
+Parts of this project that are derived from InMoov files (including Blender models, CAD files, and STL files) are based on the original work by **Gael Langevin**.
+
+**Original Work:** InMoov by Gael Langevin  
+**License:** [Creative Commons Attribution-NonCommercial (CC BY-NC)](https://creativecommons.org/licenses/by-nc/4.0/)  
+**Source:** http://inmoov.fr/  
+**Applies to:** Blender files, CAD files, STL files, and other 3D models derived from InMoov
 
 ---
 

From e815d96021beccbadf63ffb6792845f74a8caa64 Mon Sep 17 00:00:00 2001
From: Charles Madjeri <charles@madjeri.com>
Date: Mon, 6 Oct 2025 20:15:54 +0200
Subject: [PATCH 2/6] evol(xacro): hardware config

Signed-off-by: Charles Madjeri <charles@madjeri.com>
---
 hardware_config/inmoov_actuators_config.xacro | 462 +++++++++---------
 1 file changed, 240 insertions(+), 222 deletions(-)

diff --git a/hardware_config/inmoov_actuators_config.xacro b/hardware_config/inmoov_actuators_config.xacro
index b5c4783..ac9d892 100644
--- a/hardware_config/inmoov_actuators_config.xacro
+++ b/hardware_config/inmoov_actuators_config.xacro
@@ -33,296 +33,297 @@
 </xacro:macro>
 
 <!-- =============================================== -->
-<!-- LEFT ARM Configuration                          -->
+<!-- TORSO Configuration                             -->
 <!-- =============================================== -->
 
-<!-- Fingers -->
+<!-- Torso movement -->
 
-<!-- Left thumb servo - Controls thumb flexion/extension movement -->
-<xacro:servo_motor name="left_thumb"
-                   joint_name="left_thumb_joint"
-                   board="rp2040_left_arm"
-                   pin="0"
-                   type="300"
+<!-- Torso roll servo - Controls roll of the upper body -->
+<xacro:servo_motor name="torso_roll"
+                   joint_name="torso_roll_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left index finger servo - Controls index finger flexion/extension -->
-<xacro:servo_motor name="left_index"
-                   joint_name="left_index_joint"
-                   board="rp2040_left_arm"
-                   pin="1"
-                   type="300"
+<!-- Torso yaw servo - Controls yaw of the upper body -->
+<xacro:servo_motor name="torso_yaw"
+                   joint_name="torso_yaw_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left middle finger servo - Controls middle finger flexion/extension -->
-<xacro:servo_motor name="left_middle"
-                   joint_name="left_middle_joint"
-                   board="rp2040_left_arm"
-                   pin="2"
-                   type="300"
+<!-- Neck movement -->
+
+<!-- Neck pitch servo - Controls pitch of the neck -->
+<xacro:servo_motor name="neck_pitch"
+                   joint_name="neck_pitch_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left ring finger servo - Controls ring finger flexion/extension -->
-<xacro:servo_motor name="left_ring"
-                   joint_name="left_ring_joint"
-                   board="rp2040_left_arm"
-                   pin="3"
-                   type="300"
+<!-- Neck yaw servo - Controls yaw of the neck -->
+
+<!-- Neck yaw servo - Controls yaw of the neck -->
+<xacro:servo_motor name="neck_yaw"
+                   joint_name="neck_yaw_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left pinky finger servo - Controls pinky finger flexion/extension -->
-<xacro:servo_motor name="left_pinky"
-                   joint_name="left_pinky_joint"
-                   board="rp2040_left_arm"
-                   pin="4"
-                   type="300"
+<!-- Shoulder movement -->
+
+<!-- Left shoulder pitch servo - Controls up/down movement of the left arm at the shoulder -->
+<xacro:servo_motor name="left_shoulder_pitch"
+                   joint_name="left_shoulder_pitch_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Wrist -->
-
-<!-- Left wrist servo - Controls wrist flexion/extension movement -->
-<xacro:servo_motor name="left_wrist"
-                   joint_name="left_wrist_joint"
-                   board="rp2040_left_arm"
-                   pin="5"
-                   type="300"
+<!-- Right shoulder pitch servo - Controls up/down movement of the right arm at the shoulder -->
+<xacro:servo_motor name="right_shoulder_pitch"
+                   joint_name="right_shoulder_pitch_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
+<!-- =============================================== -->
+<!-- LEFT ARM Configuration                          -->
+<!-- =============================================== -->
+
 <!-- Arm joints -->
 
-<!-- Left elbow servo - Controls elbow flexion/extension -->
-<xacro:servo_motor name="left_elbow"
-                   joint_name="left_elbow_joint"
-                   board="rp2040_left_arm"
-                   pin="6"
-                   type="270"
+<!-- Left shoulder yaw servo - Controls forward/backward movement of the shoulder -->
+<xacro:servo_motor name="left_shoulder_yaw"
+                   joint_name="left_shoulder_yaw_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left shoulder pivot servo - Controls forward/backward movement of the shoulder -->
-<xacro:servo_motor name="left_shoulder_pivot"
-                   joint_name="left_shoulder_pivot_joint"
-                   board="rp2040_left_arm"
-                   pin="7"
-                   type="270"
+<!-- Left shoulder roll servo - Controls internal/external rotation of the shoulder -->
+<xacro:servo_motor name="left_shoulder_roll"
+                   joint_name="left_shoulder_roll_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Left shoulder rotation servo - Controls internal/external rotation of the shoulder -->
-<xacro:servo_motor name="left_shoulder_rotation"
-                   joint_name="left_shoulder_rotation_joint"
-                   board="rp2040_left_arm"
-                   pin="8"
-                   type="270"
+<!-- Left elbow servo - Controls elbow flexion/extension -->
+<xacro:servo_motor name="left_elbow"
+                   joint_name="left_elbow_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- =============================================== -->
-<!-- RIGHT ARM Configuration                         -->
-<!-- =============================================== -->
-
-<!-- Fingers -->
+<!-- Wrist -->
 
-<!-- Right thumb servo - Controls thumb flexion/extension movement -->
-<xacro:servo_motor name="right_thumb"
-                   joint_name="right_thumb_joint"
-                   board="rp2040_right_arm"
-                   pin="0"
-                   type="300"
+<!-- Left wrist servo - Controls wrist flexion/extension movement -->
+<xacro:servo_motor name="left_wrist"
+                   joint_name="left_wrist_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right index finger servo - Controls index finger flexion/extension -->
-<xacro:servo_motor name="right_index"
-                   joint_name="right_index_joint"
-                   board="rp2040_right_arm"
-                   pin="1"
-                   type="300"
+<!-- Fingers -->
+
+<!-- Left thumb servo - Controls thumb flexion/extension movement -->
+<xacro:servo_motor name="left_thumb"
+                   joint_name="left_thumb_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right middle finger servo - Controls middle finger flexion/extension -->
-<xacro:servo_motor name="right_middle"
-                   joint_name="right_middle_joint"
-                   board="rp2040_right_arm"
-                   pin="2"
-                   type="300"
+<!-- Left index finger servo - Controls index finger flexion/extension -->
+<xacro:servo_motor name="left_index"
+                   joint_name="left_index_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right ring finger servo - Controls ring finger flexion/extension -->
-<xacro:servo_motor name="right_ring"
-                   joint_name="right_ring_joint"
-                   board="rp2040_right_arm"
-                   pin="3"
-                   type="300"
+<!-- Left middle finger servo - Controls middle finger flexion/extension -->
+<xacro:servo_motor name="left_middle"
+                   joint_name="left_middle_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right pinky finger servo - Controls pinky finger flexion/extension -->
-<xacro:servo_motor name="right_pinky"
-                   joint_name="right_pinky_joint"
-                   board="rp2040_right_arm"
-                   pin="4"
-                   type="300"
+<!-- Left ring finger servo - Controls ring finger flexion/extension -->
+<xacro:servo_motor name="left_ring"
+                   joint_name="left_ring_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Wrist -->
-
-<!-- Right wrist servo - Controls wrist flexion/extension movement -->
-<xacro:servo_motor name="right_wrist"
-                   joint_name="right_wrist_joint"
-                   board="rp2040_right_arm"
-                   pin="5"
-                   type="300"
+<!-- Left pinky finger servo - Controls pinky finger flexion/extension -->
+<xacro:servo_motor name="left_pinky"
+                   joint_name="left_pinky_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
+
+<!-- =============================================== -->
+<!-- RIGHT ARM Configuration                         -->
+<!-- =============================================== -->
+
 <!-- Arm joints -->
 
-<!-- Right elbow servo - Controls elbow flexion/extension -->
-<xacro:servo_motor name="right_elbow"
-                   joint_name="right_elbow_joint"
-                   board="rp2040_right_arm"
-                   pin="6"
-                   type="270"
+<!-- Right shoulder yaw servo - Controls forward/backward movement of the shoulder -->
+<xacro:servo_motor name="right_shoulder_yaw"
+                   joint_name="right_shoulder_yaw_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right shoulder pivot servo - Controls forward/backward movement of the shoulder -->
-<xacro:servo_motor name="right_shoulder_pivot"
-                   joint_name="right_shoulder_pivot_joint"
-                   board="rp2040_right_arm"
-                   pin="7"
-                   type="270"
+<!-- Right shoulder roll servo - Controls internal/external rotation of the shoulder -->
+<xacro:servo_motor name="right_shoulder_roll"
+                   joint_name="right_shoulder_roll_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right shoulder rotation servo - Controls internal/external rotation of the shoulder -->
-<xacro:servo_motor name="right_shoulder_rotation"
-                   joint_name="right_shoulder_rotation_joint"
-                   board="rp2040_right_arm"
-                   pin="8"
-                   type="270"
+<!-- Right elbow servo - Controls elbow flexion/extension -->
+<xacro:servo_motor name="right_elbow"
+                   joint_name="right_elbow_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- =============================================== -->
-<!-- TORSO Configuration                             -->
-<!-- =============================================== -->
-
-<!-- Torso movement -->
+<!-- Wrist -->
 
-<!-- Torso rotation servo - Controls rotation of the upper body -->
-<xacro:servo_motor name="torso_rotation"
-                   joint_name="torso_rotation_joint"
-                   board="rp2040_torso_head"
-                   pin="0"
-                   type="270"
+<!-- Right wrist servo - Controls wrist flexion/extension movement -->
+<xacro:servo_motor name="right_wrist"
+                   joint_name="right_wrist_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Torso pivot servo - Controls forward/backward tilting of the upper body -->
-<xacro:servo_motor name="torso_pivot"
-                   joint_name="torso_pivot_joint"
-                   board="rp2040_torso_head"
-                   pin="1"
-                   type="270"
+<!-- Fingers -->
+
+<!-- Right thumb servo - Controls thumb flexion/extension movement -->
+<xacro:servo_motor name="right_thumb"
+                   joint_name="right_thumb_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Neck movement -->
-
-<!-- Neck tilt servo - Controls up/down movement of the neck -->
-<xacro:servo_motor name="neck_tilt"
-                   joint_name="neck_tilt_joint"
-                   board="rp2040_torso_head"
-                   pin="2"
-                   type="270"
+<!-- Right index finger servo - Controls index finger flexion/extension -->
+<xacro:servo_motor name="right_index"
+                   joint_name="right_index_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Shoulder movement -->
-
-<!-- Left shoulder lift servo - Controls up/down movement of the left arm at the shoulder -->
-<xacro:servo_motor name="left_shoulder_lift"
-                   joint_name="left_shoulder_lift_joint"
-                   board="rp2040_torso_head"
-                   pin="3"
-                   type="270"
+<!-- Right middle finger servo - Controls middle finger flexion/extension -->
+<xacro:servo_motor name="right_middle"
+                   joint_name="right_middle_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Right shoulder lift servo - Controls up/down movement of the right arm at the shoulder -->
-<xacro:servo_motor name="right_shoulder_lift"
-                   joint_name="right_shoulder_lift_joint"
-                   board="rp2040_torso_head"
-                   pin="4"
-                   type="270"
+<!-- Right ring finger servo - Controls ring finger flexion/extension -->
+<xacro:servo_motor name="right_ring"
+                   joint_name="right_ring_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
-<!-- Neck pivot -->
-
-<!-- Neck pivot servo - Controls left/right movement of the neck -->
-<xacro:servo_motor name="neck_pivot"
-                   joint_name="neck_pivot_joint"
-                   board="rp2040_torso_head"
-                   pin="5"
-                   type="300"
+<!-- Right pinky finger servo - Controls pinky finger flexion/extension -->
+<xacro:servo_motor name="right_pinky"
+                   joint_name="right_pinky_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -332,14 +333,15 @@
 <!-- HEAD Configuration                              -->
 <!-- =============================================== -->
 
-<!-- Head rotation -->
+<!-- Head roll -->
 
-<!-- Head rotation servo - Controls rotation of the head left/right -->
-<xacro:servo_motor name="head_rotation"
-                   joint_name="head_rotation_joint"
-                   board="rp2040_torso_head"
-                   pin="6"
-                   type="270"
+<!-- Head roll servo - Controls roll of the head -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
+<xacro:servo_motor name="head_roll"
+                   joint_name="head_roll_joint"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -348,11 +350,12 @@
 <!-- Jaw movement -->
 
 <!-- Jaw servo - Controls opening and closing of the jaw for mouth movement -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="jaw"
                    joint_name="jaw_joint"
-                   board="rp2040_torso_head"
-                   pin="7"
-                   type="300"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -361,22 +364,24 @@
 <!-- Cheek movement servos -->
 
 <!-- Left cheek puller servo - Controls left cheek movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="left_cheek"
                    joint_name="left_cheek_joint"
-                   board="rp2040_torso_head"
-                   pin="8"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Right cheek puller servo - Controls right cheek movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="right_cheek"
                    joint_name="right_cheek_joint"
-                   board="rp2040_torso_head"
-                   pin="9"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -385,11 +390,12 @@
 <!-- Lip movement servo -->
 
 <!-- Upper lip servo - Controls upper lip movement for expressions and speech -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="upper_lip"
                    joint_name="upper_lip_joint"
-                   board="rp2040_torso_head"
-                   pin="10"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -398,44 +404,48 @@
 <!-- Eyelid servos -->
 
 <!-- Upper left eyelid servo - Controls blinking and expressions for left eye -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="upper_left_eyelid"
                    joint_name="upper_left_eyelid_joint"
-                   board="rp2040_torso_head"
-                   pin="11"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Upper right eyelid servo - Controls blinking and expressions for right eye -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="upper_right_eyelid"
                    joint_name="upper_right_eyelid_joint"
-                   board="rp2040_torso_head"
-                   pin="12"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Lower left eyelid servo - Controls lower eyelid for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="lower_left_eyelid"
                    joint_name="lower_left_eyelid_joint"
-                   board="rp2040_torso_head"
-                   pin="13"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Lower right eyelid servo - Controls lower eyelid for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="lower_right_eyelid"
                    joint_name="lower_right_eyelid_joint"
-                   board="rp2040_torso_head"
-                   pin="14"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -444,44 +454,48 @@
 <!-- Eye movement servos -->
 
 <!-- Left eye horizontal servo - Controls left eye horizontal movement -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="left_eye_horizontal"
                    joint_name="left_eye_horizontal_joint"
-                   board="rp2040_torso_head"
-                   pin="15"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Left eye vertical servo - Controls left eye vertical movement -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="left_eye_vertical"
                    joint_name="left_eye_vertical_joint"
-                   board="rp2040_torso_head"
-                   pin="16"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Right eye horizontal servo - Controls right eye horizontal movement -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="right_eye_horizontal"
                    joint_name="right_eye_horizontal_joint"
-                   board="rp2040_torso_head"
-                   pin="17"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Right eye vertical servo - Controls right eye vertical movement -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="right_eye_vertical"
                    joint_name="right_eye_vertical_joint"
-                   board="rp2040_torso_head"
-                   pin="18"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -490,22 +504,24 @@
 <!-- Eyebrow servos -->
 
 <!-- Left eyebrow servo - Controls left eyebrow movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="left_eyebrow"
                    joint_name="left_eyebrow_joint"
-                   board="rp2040_torso_head"
-                   pin="19"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Right eyebrow servo - Controls right eyebrow movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="right_eyebrow"
                    joint_name="right_eyebrow_joint"
-                   board="rp2040_torso_head"
-                   pin="20"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
@@ -514,23 +530,25 @@
 <!-- Forehead servos -->
 
 <!-- Left forehead servo - Controls left forehead movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="left_forehead"
                    joint_name="left_forehead_joint"
-                   board="rp2040_torso_head"
-                   pin="21"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
                    enabled="false"/>
 
 <!-- Right forehead servo - Controls right forehead movement for expressions -->
+<!-- Warning: Pin value is hardware pin of PCA9685 -->
 <xacro:servo_motor name="right_forehead"
                    joint_name="right_forehead_joint"
-                   board="rp2040_torso_head"
-                   pin="22"
-                   type="180"
+                   board="null"
+                   pin="null"
+                   type="null"
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
-                   enabled="false"/> 
\ No newline at end of file
+                   enabled="false"/> 

From befac7768576b4c2a033371f793bcd5fd59ddfd7 Mon Sep 17 00:00:00 2001
From: Charles Madjeri <charles@madjeri.com>
Date: Sat, 25 Oct 2025 14:49:22 +0200
Subject: [PATCH 3/6] evol(hardware-config): add inverted variable

Signed-off-by: Charles Madjeri <charles@madjeri.com>
---
 hardware_config/inmoov_actuators_config.xacro | 40 ++++++++++++++++++-
 1 file changed, 39 insertions(+), 1 deletion(-)

diff --git a/hardware_config/inmoov_actuators_config.xacro b/hardware_config/inmoov_actuators_config.xacro
index ac9d892..4bf951a 100644
--- a/hardware_config/inmoov_actuators_config.xacro
+++ b/hardware_config/inmoov_actuators_config.xacro
@@ -9,6 +9,7 @@
     - Joint limits and default positions
     - Controller board assignments
     - Pin configurations
+    - Direction configuration
 -->
 
 <!-- =============================================== -->
@@ -24,10 +25,10 @@
             <board name="${board}"/>
             <pin value="${pin}"/>
             <type value="${type}"/>
-            <range_degrees value="${type}"/>
             <limit_lower value="${min_limit}"/>
             <limit_upper value="${max_limit}"/>
             <default_position value="${default_pos}"/>
+            <inverted value="${inverted}"/>
         </hardware>
     </actuator>
 </xacro:macro>
@@ -47,6 +48,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Torso yaw servo - Controls yaw of the upper body -->
@@ -58,6 +60,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Neck movement -->
@@ -71,6 +74,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Neck yaw servo - Controls yaw of the neck -->
@@ -84,6 +88,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Shoulder movement -->
@@ -108,6 +113,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- =============================================== -->
@@ -136,6 +142,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left elbow servo - Controls elbow flexion/extension -->
@@ -147,6 +154,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Wrist -->
@@ -160,6 +168,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Fingers -->
@@ -173,6 +182,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left index finger servo - Controls index finger flexion/extension -->
@@ -184,6 +194,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left middle finger servo - Controls middle finger flexion/extension -->
@@ -195,6 +206,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left ring finger servo - Controls ring finger flexion/extension -->
@@ -206,6 +218,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left pinky finger servo - Controls pinky finger flexion/extension -->
@@ -217,6 +230,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 
@@ -235,6 +249,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right shoulder roll servo - Controls internal/external rotation of the shoulder -->
@@ -246,6 +261,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right elbow servo - Controls elbow flexion/extension -->
@@ -257,6 +273,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Wrist -->
@@ -270,6 +287,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Fingers -->
@@ -283,6 +301,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right index finger servo - Controls index finger flexion/extension -->
@@ -294,6 +313,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right middle finger servo - Controls middle finger flexion/extension -->
@@ -305,6 +325,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right ring finger servo - Controls ring finger flexion/extension -->
@@ -316,6 +337,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right pinky finger servo - Controls pinky finger flexion/extension -->
@@ -327,6 +349,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- =============================================== -->
@@ -345,6 +368,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Jaw movement -->
@@ -359,6 +383,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Cheek movement servos -->
@@ -373,6 +398,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right cheek puller servo - Controls right cheek movement for expressions -->
@@ -385,6 +411,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Lip movement servo -->
@@ -399,6 +426,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Eyelid servos -->
@@ -413,6 +441,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Upper right eyelid servo - Controls blinking and expressions for right eye -->
@@ -425,6 +454,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Lower left eyelid servo - Controls lower eyelid for expressions -->
@@ -437,6 +467,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Lower right eyelid servo - Controls lower eyelid for expressions -->
@@ -449,6 +480,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Eye movement servos -->
@@ -463,6 +495,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Left eye vertical servo - Controls left eye vertical movement -->
@@ -475,6 +508,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right eye horizontal servo - Controls right eye horizontal movement -->
@@ -487,6 +521,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right eye vertical servo - Controls right eye vertical movement -->
@@ -513,6 +548,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right eyebrow servo - Controls right eyebrow movement for expressions -->
@@ -525,6 +561,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Forehead servos -->
@@ -539,6 +576,7 @@
                    min_limit="null"
                    max_limit="null"
                    default_pos="null"
+                   inverted="false"
                    enabled="false"/>
 
 <!-- Right forehead servo - Controls right forehead movement for expressions -->

From 71d32625686877dc01f083885748bf1641619351 Mon Sep 17 00:00:00 2001
From: Mathieu <103381146+m-brl@users.noreply.github.com>
Date: Sat, 13 Jun 2026 15:26:00 +0200
Subject: [PATCH 4/6] feat(ci/cd): add release action (#32)

Signed-off-by: m-brl <103381146+m-brl@users.noreply.github.com>
---
 .github/workflows/release.yml | 58 +++++++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 .github/workflows/release.yml

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 0000000..d4b56ad
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,58 @@
+name: Create release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version number'
+        required: true
+        type: string
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  create-release:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        ref: dev
+        fetch-depth: 0
+
+    - name: Configure Git
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+
+    - name: Create Release Branch
+      run: |
+        git checkout -b release/${{ inputs.version }}
+
+        echo "${{ inputs.version }}" > version.txt
+
+        git add version.txt
+        git commit -m "Migrating to ${{ inputs.version }}"
+        git push origin release/${{ inputs.version }}
+
+    - name: Create PR to Master
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        gh pr create \
+          --title "Release ${{ inputs.version }} -> Master" \
+          --body "Merge release ${{ inputs.version }} to master." \
+          --base master \
+          --head release/${{ inputs.version }}
+
+    - name: Create PR to Develop
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        gh pr create \
+          --title "Release ${{ inputs.version }} -> Dev" \
+          --body "Merge release ${{ inputs.version }} to dev." \
+          --base dev \
+          --head release/${{ inputs.version }}

From 69b187e2be5c7f4c65253cefd5ca351861f6e765 Mon Sep 17 00:00:00 2001
From: m-brl <103381146+m-brl@users.noreply.github.com>
Date: Sun, 14 Jun 2026 08:59:42 +0200
Subject: [PATCH 5/6] evol(release CI): centralise CI release pipeline

Signed-off-by: m-brl <103381146+m-brl@users.noreply.github.com>
---
 .github/workflows/release.yml | 51 +++--------------------------------
 1 file changed, 4 insertions(+), 47 deletions(-)

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index d4b56ad..5875d91 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -1,4 +1,4 @@
-name: Create release
+name: Trigger Release
 
 on:
   workflow_dispatch:
@@ -8,51 +8,8 @@ on:
         required: true
         type: string
 
-permissions:
-  contents: write
-  pull-requests: write
-
 jobs:
   create-release:
-    runs-on: ubuntu-latest
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-      with:
-        ref: dev
-        fetch-depth: 0
-
-    - name: Configure Git
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-
-    - name: Create Release Branch
-      run: |
-        git checkout -b release/${{ inputs.version }}
-
-        echo "${{ inputs.version }}" > version.txt
-
-        git add version.txt
-        git commit -m "Migrating to ${{ inputs.version }}"
-        git push origin release/${{ inputs.version }}
-
-    - name: Create PR to Master
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        gh pr create \
-          --title "Release ${{ inputs.version }} -> Master" \
-          --body "Merge release ${{ inputs.version }} to master." \
-          --base master \
-          --head release/${{ inputs.version }}
-
-    - name: Create PR to Develop
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        gh pr create \
-          --title "Release ${{ inputs.version }} -> Dev" \
-          --body "Merge release ${{ inputs.version }} to dev." \
-          --base dev \
-          --head release/${{ inputs.version }}
+    uses: Sentience-Robotics/.github/.github/workflows/release.yaml@master
+    with:
+      version: ${{ inputs.version }}

From 0a3b978db486eb03ac47ef2d33de08f228f3feb4 Mon Sep 17 00:00:00 2001
From: m-brl <103381146+m-brl@users.noreply.github.com>
Date: Sun, 14 Jun 2026 09:44:54 +0200
Subject: [PATCH 6/6] Migrating to v0.1

Signed-off-by: m-brl <103381146+m-brl@users.noreply.github.com>
---
 version.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 version.txt

diff --git a/version.txt b/version.txt
new file mode 100644
index 0000000..085135e
--- /dev/null
+++ b/version.txt
@@ -0,0 +1 @@
+v0.1