# Seeded by Robotheca from the repository at the pinned commit (2026-10-04).
# The LICENSE file is the Apache-2.0 text copied from LeRobot; it is the only
# license in the repository and applies to all of it.
format_version: "0.1"
name: Koch v1.1
summary: An improved version of Alexander Koch's low-cost robot arm, a leader and follower pair with Dynamixel servos for LeRobot. The price includes both arms.
category: arm
difficulty: beginner
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/jess-moss/koch-v1-1
  ref: 1a553e1fa7d5404b51bbd83b99b0f7eba54888e0
# README totals: leader arm 305€ + follower arm 368€
estimated_cost: { amount: 673, currency: EUR }
tools: ["3D printer"]
files:
  parts_3d: hardware/
  cad: hardware/
  electronics: electrical/
  bom: README.md
  images: ["pictures/Follower_And_Leader_Arm.jpg"]
software:
  framework: lerobot
# Build guide: the README (parts, printing), its assembly video, and
# LeRobot's Koch v1.1 page (the README's own LeRobot link is dead today).
build_steps:
  - { title: Get the parts for both arms, doc: README.md }
  - { title: Print the parts, doc: README.md }
  - { title: Assemble the two arms (video), url: "https://www.youtube.com/watch?v=8nQIg9BwwTk" }
  - { title: Set up the motors and calibrate with LeRobot, url: "https://huggingface.co/docs/lerobot/koch" }