# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: ASTRA
summary: An open-source 9.5 kg quadruped robot with a 3-DoF active spine, designed to be rebuilt for around €1500 and used to study active spine control.
category: quadruped
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/fedecomi04/opensource-spinal-quadruped
  ref: 41dab01c906a14dd374a10fb7f234179b8c7736c
estimated_cost:
  amount: 1500
  currency: EUR
tools:
  - 3D printer
  - soldering iron
  - laser cutter
  - STM32CubeIDE
files:
  parts_3d: ros2_ws/src/mujoco_interface/model/meshes/
  cad: cad/
  docs: docs/
  images:
    - docs/images/hero_quadruped.png
software:
  framework: ros2
specs:
  dof: 15
  power_v: 24
  height_mm: 435
  weight_kg: 9.5
build_steps:
  - title: Order the motors
  - title: Cut the CFRP frame and leg parts from the STEP file
  - title: 3D-print the Tough PLA brackets
  - title: Wire the electronics
  - title: Flash the firmware
  - title: Set up the Pi with ROS 2 Jazzy
  - title: "Bring-up: zero joints, verify in MuJoCo, then walk with the trot controller"