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

format_version: "0.1"
name: HumbleArm
summary: A low-cost desktop 6-DOF robotic arm controlled via ROS, using Arduino UNO, an I2C servo driver, and six servos.
category: arm
difficulty: intermediate
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/XiangxingZ/HumbleArm-Simplest-Desktop-Six-Axis-Robotic-Arm-
  ref: 41cc364ebc7d925518bd5b9fe40f1f10120f9cb5
estimated_cost:
  amount: 200
  currency: CNY
tools:
  - 3D printer
  - soldering iron
  - screwdriver
  - wire cutters
  - multimeter
files:
  urdf: sim/robotURDF/urdf/六轴机械臂.SLDASM.urdf
  parts_3d: Hardware_files/
  cad: Hardware_files/SW_files/
  bom: README.md
  images:
    - Images/实物图.jpg
software:
  framework: ros
specs:
  dof: 6
  reach_m: 0.35
build_steps:
  - title: Prepare Arduino and ROS environment
  - title: Assemble 3D printed parts and hardware
  - title: Connect servos, driver board, and power supply
  - title: Upload Arduino firmware
  - title: Install and configure ROS packages
  - title: Test joint control and GUI interaction
  - title: Perform workspace analysis and calibration