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

format_version: "0.1"
name: Dual Scorpion
summary: A 7-DOF dual-arm bimanual robot platform derived from the SO-101 design, with matching leader arms for teleoperation.
category: arm
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/momoiorg-repository/dual_scorpion
  ref: 82956e251d97201d0ac46a3f84cbb532d96d13b8
tools:
  - 3D printer
files:
  parts_3d: dual_scorpion_3d_printer_parts/
  bom: README.md
  docs: docs/
software:
  framework: lerobot
specs:
  dof: 7
  height_cm: 60
build_steps:
  - title: Print and assemble the follower and leader parts from dual_scorpion_3d_printer_p
  - title: Wire servos to their controllers, mirroring IDs between left and right buses
  - title: Probe USB ports with lerobot-find-port to map device names
  - title: Set motor IDs with lerobot-setup-motors
  - title: Calibrate encoders with lerobot-calibrate