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

format_version: "0.1"
name: Physical Ant
summary: A quadruped ant-style robot with eight Dynamixel actuators that runs learned locomotion policies directly on hardware, controlled by a single computer over USB.
category: quadruped
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/Openmind-Research-Institute/open-ant
  ref: a3c5a385197e580943b16c67cc25d2b6e5a35942
estimated_cost:
  amount: 2230.61
  currency: USD
tools:
  - 3D printer
  - 1.5mm hex driver
  - 2.0mm hex driver
  - 2.5mm hex driver
  - Phillips head screwdriver
  - Loctite Threadlocker
  - glue gun or tape
files:
  parts_3d: hardware/
  cad: hardware/
  bom: Readme.md
build_steps:
  - title: Configure Dynamixel motor IDs and set baudrate to 1Mbaud before assembly
  - title: Assemble the robot using the 3D printed parts and mounting screws
  - title: Mount the IMU autopilot and USB hub
  - title: Install Python dependencies in a virtual environment
  - title: Create the robot config file with the April tag ID and set IMU port, camera ID a
  - title: Run the simulation or the SAC/SARSA agents on hardware