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

format_version: "0.1"
name: Balancio-Kit
summary: An ultra-low-cost self-balancing robot that can run a neural network to stay balanced and be controlled wirelessly, built for teaching RL, ML, AI and control.
category: other
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/udesa-linar/balancio-kit
  ref: bae683863737235409a1c2a1e74a05f57d785d0d
tools:
  - 3D printer
  - Soldering iron
  - Zip ties
  - Glue
  - USB cable
  - Arduino IDE 2
files:
  urdf: simulation/urdf/balancio_v3.urdf
  parts_3d: Planos de Impresión 3D/
  images:
    - resources/Balancio_0.6.jpg
software:
  framework: arduino
specs:
  weight_kg: 0.244
build_steps:
  - title: 3D print one of the robot versions
  - title: Snap the parts into their final positions
  - title: Secure the motors with zip ties and/or glue
  - title: Connect the components following the wiring diagram
  - title: Install the Arduino IDE and configure the ESP32 board
  - title: Install the Arduino libraries (MPU6050, PS3 Controller Host, EloquentTinyML)
  - title: Upload a test example to the microcontroller
  - title: Install the Python simulation environment with Conda (optional)
  - title: Calibrate the IMU
  - title: Calibrate the equilibrium angle
  - title: Calibrate the PID constants