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

format_version: "0.1"
name: Wheel-legged Robot (Balance Leg V2)
summary: A wheel-legged balancing robot with leg-joint motors and hub-wheel motors, controlled by a custom STM32H723 board using LQR and VMC.
category: other
difficulty: advanced
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/Multivac11/Wheel-legged-robot--Main_Code
  ref: 3467f3fdc154336fff1cad6dcce1ff587af6089e
tools:
  - 3D printer
  - soldering iron
  - CNC machining service
files:
  parts_3d: cmake-build-debug/CMakeFiles/Balance_leg_V2.elf.dir/
  images:
    - picture/Leg_V2.png
software:
  framework: ros2
specs:
  height_mm: 398.1