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

format_version: "0.1"
name: Berkeley Humanoid Lite Arm (BHL v1.5)
summary: A 3D printed bimanual arm robot platform built on Robstride actuators with LeRobot-compatible control and teleoperation.
category: arm
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/berkeley-humanoids/berkeley-humanoid-lite-arm
  ref: e6940b49a5bb48f3f8bfb2e5461d4ad3fbbe897c
tools:
  - 3D printer
files:
  urdf: data/bhl_arm/urdf/bhl_arm.urdf
  cad: data/bhl_arm/scad/
  docs: docs/
software:
  framework: lerobot