Real parts

Every simulated robot is built from parts you can buy or print: Feetech STS3215 servos, 12 V version (C018: 2.94 N*m stall, 4.71 rad/s, run at 70% of the torque), 60 g per servo, an ESP32 + 3S LiPo + regulator payload of 0.17 kg in the torso, printed links of any length from 40 to 200 mm with a width of 12 to 30 mm and a thickness of 3 to 10 mm (straight, L or arc), a torso plate of free contour with optional spine plates, blade, pad and claw feet with a socket hub, printed elbow plates that carry the modules mounted on the side of a link, TPU flexure springs, tails, skids, spikes and caster wheels, and self-collision between limbs. Link mass comes from the PLA geometry, and a link must keep its bending stress under the servo stall torque at or below 25 MPa. The sources and the values still to be checked are in hardware-dados.md.

The same STS3215 works in two modes, set by the firmware at power-up: position mode, which turns to an angle within one full turn (4096 steps), for joints, and wheel mode, which spins continuously at a set speed, for wheels. Evolution decides each servo's role through the module it carries (joint or wheel), and the role stays fixed while the robot runs. In both modes the servo reports position, speed, load, voltage and temperature; the load is what the controller's feedback uses.