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

format_version: "0.1"
name: Yertle
summary: A 3D printed quadrupedal robot with 4 limbs of 3 degrees of freedom each, built for locomotion research and reinforcement-learned walking.
category: quadruped
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/Jerome-Graves/yertle
  ref: 9d04e2d2c1da07d5845807bd36b242b1d0eff843
estimated_cost:
  amount: 250
  currency: GBP
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: design/STL/
  cad: design/CAD/
software:
  framework: ros2
specs:
  reach_cm: 20
  weight_kg: 1.8