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

format_version: "0.1"
name: Mujina
summary: A quadruped walking robot (Mujina) whose CAD data is published in this repository.
category: quadruped
difficulty: advanced
license:
  hardware: CC-BY-SA-4.0
  software: CC-BY-SA-4.0
source:
  repository: https://github.com/rt-net/Mujina_Hardware
  ref: 6eaa30fd96bff3f003e8be92c2fe3aeaf5761902
tools:
  - soldering iron
  - 3D printer
files:
  images:
    - Media/Mujina_model01.png
software:
  framework: ros2
build_steps:
  - title: Set up the LattePanda IOTA PC following the mujina_ros README
  - title: Configure LattePanda Auto Power-On
  - title: Write motor IDs and update motor firmware using motor_tool.md
  - title: Write firmware to the USB 9-axis IMU module and USB-CAN FD interface, then insta
  - title: Install the LattePanda IOTA PC inside the robot following lattepanda.md
  - title: Wire the motor cables and internal harness following cable.md
  - title: Insulate the XT30 (2+2) connectors of motors that have no motor cable connected