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

format_version: "0.1"
name: RC WheelLeg
summary: A 16-degree-of-freedom wheeled-legged robot designed for Robocon obstacle courses, combining reinforcement learning, MuJoCo simulation, and real-world deployment.
category: rover
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/zeitvex/RC_WheelLeg
  ref: 1bc9aa5999f2cd13f729dc647ed0b8b5e0879e8e
tools:
  - 3D printer
  - soldering iron
  - CNC machine
  - computer for software development
files:
  parts_3d: 05_software/train/rc_mjlab/mjlab/src/mjlab/asset_zoo/robots/
  cad: 02_mechanical/
  images:
    - 06_assets/images/early_sim2real_preview.jpg
software:
  framework: ros2
specs:
  dof: 16
build_steps:
  - title: Review project documentation and BOM
  - title: 3D print mechanical parts
  - title: Assemble mechanical structure
  - title: Build and test hardware (PCB, sensors, actuators)
  - title: Flash firmware to microcontrollers
  - title: Set up software environment (MuJoCo, mjlab, ROS 2)
  - title: Train reinforcement learning policy in simulation
  - title: Validate policy with Sim2Sim
  - title: Deploy policy to real robot (Python Sim2Real or ROS 2/C++)
  - title: Perform safety checks and calibration
  - title: Conduct real-world testing and tuning