{
  "id": "51515-gelo",
  "name": "Gelo",
  "family": "robot-inventor",
  "kit": "LEGO MINDSTORMS Robot Inventor 51515",
  "robotKind": "quadruped_walker",
  "source": {
    "manual": "PDF_manuals/51515/51515_Gelo.pdf",
    "portMap": "pybricks",
    "url": "https://pybricks.com/projects/sets/mindstorms-robot-inventor/main-models/gelo/basic/"
  },
  "controller": {
    "model": "Robot Inventor Hub 51515",
    "firmware": "pybricks-or-lego-spike",
    "connection": ["ble", "usb"]
  },
  "ports": {
    "A": { "kind": "motor", "part": "angular-motor", "role": "rear_right_leg", "positiveDirection": "counterclockwise" },
    "B": { "kind": "motor", "part": "angular-motor", "role": "rear_left_leg" },
    "C": { "kind": "motor", "part": "angular-motor", "role": "front_right_leg", "positiveDirection": "counterclockwise" },
    "D": { "kind": "motor", "part": "angular-motor", "role": "front_left_leg" },
    "E": { "kind": "sensor", "part": "distance-sensor", "role": "obstacle_detection" },
    "F": { "kind": "sensor", "part": "color-sensor", "role": "trick_selection" }
  },
  "sensors": [
    { "kind": "imu", "source": "hub" },
    { "kind": "distance", "source": "Port.E" },
    { "kind": "color", "source": "Port.F" }
  ],
  "probeSignature": {
    "version": 1,
    "expectedActivePorts": ["A", "B", "C", "D"],
    "features": ["four_leg_motors", "gait_phase_coupling", "distance_sensor", "color_sensor"]
  },
  "programTargets": ["pybricks-python", "spike-stock"],
  "license": "CC-BY-4.0"
}