# ROBOT CARD template. Send this with your model (URDF + meshes, or MuJoCo MJCF), as a folder or a .zip.
name: my_robot              # required: lowercase id
title: "My Robot"
type: legged                # required: legged | multirotor
model_file: urdf/robot.urdf # only if the upload has several models
base_link: base             # the floating body; default: the URDF root link

# ---- legged
standing:
  keyframe: home            # MJCF only: an existing <key>; otherwise give the angles below
  base_height: auto         # m, or auto
  joints: {".*_hip_joint": 0.0, ".*_thigh_joint": 0.8, ".*_calf_joint": -1.5}
feet:                       # omit if every leg end has a collision sphere
  links: [FL_foot, FR_foot, RL_foot, RR_foot]
  radius: 0.02              # contact sphere radius (m), needed when a foot link has no sphere
  offset: [0, 0, 0]         # foot contact point in the foot link frame (m)
motors:                     # needed when the URDF has no (or placeholder) <limit effort>
  effort: 33.5              # N·m, or {"<joint regex>": value}
  velocity: 21.0            # rad/s
  armature: 0.01            # optional
  damping: 0.0              # optional passive damping
  frictionloss: 0.0         # optional

# ---- multirotor
rotors:
  links: [rotor_0, rotor_1, rotor_2, rotor_3]   # URDF: rotor frames (thrust along z). MJCF: use sites: [...]
  spin: [ccw, cw, ccw, cw]
  max_thrust_n: 13.0
  yaw_torque_coef: 0.0201
mass_kg: 1.3                # only if the model has no masses
inertia_kgm2: [0.03, 0.03, 0.06]   # optional with mass_kg; else estimated from the geometry (flagged)