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

format_version: "0.1"
name: FCS 4-DOF Robot Hand
summary: A 4 degree-of-freedom robot hand driven by four Futaba Command Servos, with 3D-printed link parts and ros2_control support.
category: other
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/knaga-rgj/fcs4hand2310
  ref: 2f344bc9acb276529fb28dd9e085ca2b6bc62e0e
tools:
  - 3D printer
  - soldering iron
  - screwdriver
  - crimping tool
files:
  cad: step/
software:
  framework: ros2
build_steps:
  - title: Replace the connector on each servo module with an EHR-4 connector
  - title: Screw the link parts to the servo horns
  - title: Attach the servo modules to the link parts with double-sided tape
  - title: Screw the servo module holders to the base
  - title: Make the power cables for the hub side and the power supply side
  - title: Wire the connections, burn in servo IDs, and check operation