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

format_version: "0.1"
name: OmniT-Hand
summary: A minimalist underactuated robotic hand with one motor per finger, achieving adaptive grasping for humanoid robots.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0 WITH SHL-2.1
  software: Apache-2.0 WITH SHL-2.1
source:
  repository: https://github.com/loongOpen/OmniT-Hand
  ref: b7938518a2076848f798e44916fca4832dac9bcf
estimated_cost:
  amount: 1230
  currency: CNY
tools:
  - 3D printer
files:
  images:
    - OmniT-Hand-image/双手.png
specs:
  dof: 5
  payload_kg: 1
  cable_length_mm: 80