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

format_version: "0.1"
name: BiDexHand
summary: An open-source 16-degree-of-freedom biomimetic dexterous robotic hand driven by a cable-and-pulley system with servos.
category: arm
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/wengmister/BiDexHand
  ref: 6cd2c754f53393cad13f752c16c3ea51cfce3b21
tools:
  - 3D printer
files:
  urdf: src/hand_rviz/urdf/hand_urdf.urdf
  parts_3d: cad_asset/_stl/
  cad: cad_asset/_stp/
  bom: BOM.md
  images:
    - images/franka_teleop.gif
software:
  framework: ros2
specs:
  dof: 16
build_steps:
  - title: Clone the repository and install ROS2 dependencies with rosdep
  - title: Build the workspace with colcon and source the setup script
  - title: Build and flash the servo2040 controller for the PWM version
  - title: Launch motion shadowing or direct servo control