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

format_version: "0.1"
name: Mini-Arm
summary: A miniature 6DOF 3D-printed open-source robot arm controlled from a Raspberry Pi Pico running CircuitPython, with an internal IK solver and USB, serial and TCP/IP control.
category: arm
difficulty: intermediate
license:
  hardware: MPL-2.0
  software: MPL-2.0
source:
  repository: https://github.com/Jshulgach/Mini-Arm
  ref: 666bbb4b03d323782290faaeea48405d480d64b5
estimated_cost:
  amount: 100
  currency: USD
tools:
  - 3D printer
  - soldering iron
files:
  urdf: ros2/miniarm_description/urdf/miniarm.urdf
  parts_3d: hardware/
  cad: hardware/cad/solidworks/
  docs: docs/
  images:
    - assets/assembly2.jpg
software:
  framework: micropython
specs:
  dof: 6
  weight_kg: 0.3
build_steps:
  - title: Choose Pico firmware
  - title: Flash the firmware
  - title: Copy the firmware files
  - title: Building the arm
  - title: Electrical wiring