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

format_version: "0.1"
name: Puguette
summary: A fully open-source 12 DOF quadruped robot that uses BLDC motors with planetary gearboxes for high-torque legged locomotion.
category: quadruped
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/haruto89610/puguette
  ref: 2694b129a74ee80bfc4f2c607e402c4d7bc4480f
tools:
  - 3D printer
  - M2 screwdriver
  - M4 hex nuts
files:
  urdf: src/PyBullet Simulation/Puguette.urdf
  parts_3d: CAD/
  images:
    - images/Prototype.jpg
specs:
  dof: 12
  height_cm: 40
build_steps:
  - title: Mount encoder onto encoder holder using M2 screws
  - title: Mount the encoder magnet on the motor via the magnet holder
  - title: Insert M4 hex nuts into the sides of motor holder
  - title: Screw encoder holder onto the motor holder via the holes
  - title: Place bearings onto the ring gear and planet gear
  - title: Push the planet gear onto the planet gear holder
  - title: Mount the sun gear onto the motor via the opening on the motor holder
  - title: Push the sun gear into the center of the planet gear and planet gear holder
  - title: Push the ring gear on top of the planet gear holder
  - title: Mount motor holder onto ring gear