Annin Robotics Forum - Recent Posts

RE: Software version 6.1 released

Chris Annin — Thu, 18 Sep 2025 13:44:02 +0000

@justin-iszatt I will likely do both, having a git-hub repo and direct download links. Thanks for your feedback.

RE: Software version 6.1 released

Justin Iszatt — Thu, 18 Sep 2025 13:30:43 +0000

Hi @Chris-Annin and first if all thank you for getting back to me.

Thanks for the clarification on the pyd-file and your plans sound very promising! Is the plan to go for git-hub or will you stay with the current way of releases?

In case you need input regarding the changes i did for v5.0 or help in any other way, I would love to give feedback, test a possible beta or help in any other way.

Thanks again for your work and looking forward to your next steps.

Best regards

Justin

RE: Software version 6.1 released

Chris Annin — Wed, 17 Sep 2025 18:59:06 +0000

@justin-iszatt Hello, I'm actually working with a colleague on that very thing - creating a repo and linux compatible code. I'll post a video and newsletter as soon as I can make that happen. Trying to work as fast as possible, could be a number of weeks but I am working on it.

RE: Software version 6.1 released

Chris Annin — Wed, 17 Sep 2025 18:58:32 +0000

@justin-iszatt

A .pyd file is basically a Windows dynamic library (.dll) that Python can import directly as a module.

It’s created when you write Python extensions in C or C++ (often using tools like pybind11 or Cython).
From Python’s perspective, it looks and behaves just like a normal .py file — you can import robot_kinematics and use its functions/classes — but under the hood it’s compiled native code.
On Linux/macOS, the equivalent is a .so (shared object) file.

This pyd file is essentially the exact same C++ kinematics code thats running on the teensy - it just allows me to control the virtual robot exactly the same as the real robot.

RE: Software version 6.1 released

Justin Iszatt — Wed, 17 Sep 2025 17:45:07 +0000

Could you maybe elaborate the "robot_kinematics.pyd" is this custom made by you or "related" to roboKimenatics by Silias U?
As a .pyd file is similar to a .dll file, I can't simply use it on Unix

RE: Software version 6.1 released

Justin Iszatt — Wed, 17 Sep 2025 17:05:28 +0000

Hi Chris,
any chance we could convince you to work on a git-repo?
Background is, that I love to see new features and add-ons made to the cool software you offer for free, but as I usually have some troubles with new releases as I am running on Mac/Linux and MS Windows in parallel.
I usually take you release, disect it to a certain degree and make a set of small changes to the way you run some of the stuff (e.g. com-port do not really exist in the Unix world).

As I am quite sure it does not change to much of the code your are dealing with and as others might also appreciate some of the changes I make, I would love to share the changes with you and make integrate them to the your official files.

If you like, I can run you through the GitHub-setup or even setup one myself. What are your thoughts on this and is there anyone in the community actually interested in such an endeavour?

Really looking forward to a reply and lots of thanks for the time, patience and know-how you put into this project!!

LG

J

RE: Question about J1 tapered roller bearings

Chris Annin — Thu, 11 Sep 2025 23:41:34 +0000

@danielgigliotti99-dggmail-com I would use PETG but it should work fine - its not that much pressure to preload.

RE: Question about J1 tapered roller bearings

Daniel Gigliotti — Thu, 11 Sep 2025 21:14:40 +0000

@chris-annin Ok got it, thanks. This is very nice. Just out of curiosity, if I were to do something like this with a different material, for example PLA + heat set inserts, it wouldn't work because the tension of the screws will deform the plastic rather than preload the bearing, right?

RE: Question about J1 tapered roller bearings

Chris Annin — Thu, 11 Sep 2025 20:58:22 +0000

@danielgigliotti99-dggmail-com no the screws place direct pressure on the bearing center housing and preload the bearings. Im attaching a section view.

preload.jpg

RE: Question about J1 tapered roller bearings

Daniel Gigliotti — Thu, 11 Sep 2025 19:42:45 +0000

@chris-annin So there is a small gap between the two components and tightening the screws brings them closer?