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

format_version: "0.1"
name: Giraffe
summary: A cost-effective, ROS2-compatible 5-DoF robotic manipulator with a leader-follower teleoperation setup, designed to lower the barrier to entry for Embodied AI.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/carpit680/giraffe
  ref: 5a037ec96ccf4e5d270c6b715a1e3cccb85c731f
tools:
  - 3D printer
  - putty knife
  - soldering iron
files:
  urdf: giraffe_ws/src/giraffe_description/urdf/Giraffe.urdf
  parts_3d: CAD/STL/
  cad: CAD/
  images:
    - assets/giraffe_follower.png
software:
  framework: ros2
specs:
  dof: 5
build_steps:
  - title: Select a 3D printer that meets the recommended specifications
  - title: Prepare the printer bed with glue stick and calibrate
  - title: Print the common and follower or leader arm parts from the STL files
  - title: Remove parts from the print bed and strip support material
  - title: Assemble the leader and follower arms following the OpenBot docs guide
  - title: Clone the repository and install Python dependencies
  - title: Set user permissions for serial port access
  - title: Set servo IDs using the configurator script
  - title: Install ROS2 Humble, Gazebo Fortress, and MoveIt 2
  - title: Build and source the giraffe_ws ROS2 workspace