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

format_version: "0.1"
name: Delta Robot ACT vs. Diffusion Policy
summary: A 3-DOF delta robot with an electromagnet gripper that picks up a bolt and drops it in a cup, used to compare ACT and Diffusion imitation-learning policies.
category: arm
difficulty: advanced
license:
  hardware: CC-BY-4.0
  software: MIT
source:
  repository: https://github.com/KirkEHaskell/delta-robot-act-vs-diffusion
  ref: ec847269bff4cdf62ca8d01d63e4f9b5460741b3
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: hardware/stl/
  images:
    - media/diffusion_best_n100_s50k_2x.gif
software:
  framework: lerobot
specs:
  dof: 3