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

format_version: "0.1"
name: G-Arm
summary: A full open-source 3D printed robotic arm controlled through GRBL, ROS 2 and MoveIt 2.
category: arm
difficulty: advanced
license:
  hardware: CERN-OHL-S-2.0
  software: CERN-OHL-S-2.0
source:
  repository: https://github.com/vidalperezbohoyo/g-arm
  ref: 506ba11d7486855ec623c2a102368c669e6bee4f
tools:
  - 3D printer
  - FreeCAD
files:
  cad: hardware/FreeCad/
  docs: documentation/
  images:
    - documentation/wiki_images/Real_vs_Cad.png
software:
  framework: ros2
build_steps:
  - title: Generate the STL files from the FreeCAD source files
  - title: Print the parts at the recommended densities
  - title: Buy the listed purchasable parts or equivalents
  - title: Assemble the robot using the FreeCAD assembly file
  - title: Connect the electronics following the electronic diagram
  - title: Install the GRBL firmware and configure it
  - title: Install ROS 2 Humble, MoveIt 2 and the PyMoveit2 API
  - title: Copy the g_arm ROS 2 packages into the workspace and source them
  - title: Run the G-Arm ROS 2 driver and the MoveIt 2 launcher