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

format_version: "0.1"
name: Micro Dog
summary: A 0.96 kg, 12-DOF quadruped robot dog driven by 12 Dynamixel XL330-M288-T servos and built around a Raspberry Pi Zero 2 W.
category: quadruped
difficulty: advanced
license:
  hardware: CC-BY-NC-SA-4.0
  software: GPL-3.0-only
source:
  repository: https://github.com/moieboy9999/Micro_Dog
  ref: 68373f962d8916d3e81a07630844f12e3dfbe927
tools:
  - 3D printer
  - soldering iron
files:
  urdf: urdf/micro_dog.urdf
  cad: step/
  docs: docs/
specs:
  dof: 12
  weight_kg: 0.96