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

format_version: "0.1"
name: Cubli Armonia Reaction-Wheel Cube
summary: A 156 mm reaction-wheel cube that balances on an edge and on a corner, using three reaction wheels, a Teensy 4.1 control loop and a Wi-Fi telemetry bridge.
category: other
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/NiccoloTonetto/Cubli-Space-challenge-2026
  ref: 1b6e3d02b2f439064d6846e3f75d90c0e1a2776d
tools:
  - 3D printer
  - soldering iron
files:
  cad: simulation/cube-3d/cad/
  electronics: hardware/kicad/
  docs: docs/
  images:
    - figures/build/cubli-corner-balance.jpg
software:
  framework: arduino
specs:
  weight_kg: 1.615
build_steps:
  - title: Print the 156 mm PETG-CF frame
  - title: Assemble the three reaction wheels with T-Motor Antigravity 4006 motors
  - title: Mount the mjbots moteus-n1 FOC drivers on the CAN-FD bus
  - title: Fit the Bosch BMI270 IMU at the cube's geometric centre
  - title: Wire the Teensy 4.1 controller and XIAO ESP32-C6 Wi-Fi bridge
  - title: Flash the staged bring-up firmware and calibrate the IMU
  - title: Tune the per-corner LQR gains and balance on a corner