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

format_version: "0.1"
name: CamBot
summary: A 6-DOF camera arm with a ZED Mini stereo camera that streams video to a WebXR VR headset and follows head tracking for teleoperation.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/open-thought/cambot
  ref: cd5d4c426df5264c8784246da7a2f0d0cb2eb4b5
tools:
  - 3D printer
files:
  urdf: urdf/cambot.urdf
  parts_3d: 3dprint/
  docs: docs/
  images:
    - 3dprint/CamBot_v2.png
specs:
  dof: 6
build_steps:
  - title: Print the 7 PLA body parts from the STL files in 3dprint/
  - title: Assemble the arm with 6x Feetech STS3215 servos as described in the build guide
  - title: Mount the StereoLabs ZED Mini stereo camera on the camera_roll joint
  - title: Install the Python package with uv and set up the ZED SDK for camera support
  - title: Assign servo IDs, set PID parameters, and calibrate the home position
  - title: Run the VR teleop server and connect a WebXR headset