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

format_version: "0.1"
name: TipToe
summary: A 6-DOF point-foot biped with no ankles, built from printed parts and RobStride actuators, trained with PPO in Isaac Lab to stand up, step and sit on hardware.
category: other
difficulty: advanced
license:
  hardware: CC-BY-4.0
  software: MIT
source:
  repository: https://github.com/jiz322/tiptoe-biped
  ref: c91dedb7a48d906cc63dafb4634903f54079b3e1
estimated_cost:
  amount: 5700
  currency: CNY
tools:
  - 3D printer
  - soldering iron
files:
  urdf: assets/tiptoe_v27/robot.urdf
  bom: hardware/BOM.md
  docs: docs/
  images:
    - docs/img/demo.gif
specs:
  dof: 6
build_steps:
  - title: Print the 24 structural parts from the MakerWorld listing or STL files
  - title: Assemble the legs and hip bodies per hardware/ASSEMBLY.md
  - title: Wire the motors, CAN board, IMU and power distribution board
  - title: Set up the Raspberry Pi 5 with CAN bring-up and the control stack
  - title: Zero the motors and verify all six reply with test_motors.py
  - title: Run the released policy with balance_log.py