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

format_version: "0.1"
name: MiniLoong
summary: A small 22-degree-of-freedom humanoid robot designed for reinforcement learning and imitation learning, featuring a rotatable waist, head, and upper limbs.
category: humanoid
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/loongOpen/MiniLoong
  ref: 50d93a5912553d8c5bc568e497031a54aa938352
tools:
  - 3D printer
  - soldering iron
  - screwdriver set
  - wire cutters/strippers
  - Allen key set
  - multimeter
files:
  urdf: 训练代码/OmniBotCtrl/resources/tinymal/urdf/real.urdf
  parts_3d: 下位机代码/Linux/control_task2/qpOASES/bin/CMakeFiles/3.19.0-rc2/CompilerIdCXX/Debug/
  cad: 三维模型/
  images:
    - RL_Boy_image/5.png
specs:
  height_cm: 55
build_steps:
  - title: Prepare 3D printed parts and carbon fiber sheets
  - title: Assemble the robot's mechanical structure
  - title: Install motors and servos
  - title: Wire the power distribution and control systems
  - title: Install the main controller (e.g., Jetson Nano or Raspberry Pi)
  - title: Configure motor IDs and CAN bus connections
  - title: Install and calibrate sensors (IMU, OLED, cameras)
  - title: Flash firmware to STM32 boards
  - title: Install and configure control software
  - title: Test and calibrate the robot's movements