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

format_version: "0.1"
name: Open Mobile Robotic Manipulator
summary: A mobile 4WD robot with a 5-DOF arm on top, wirelessly controlled from a laptop with an Xbox-style controller, using inverse kinematics.
category: rover
difficulty: intermediate
license:
  hardware: GPL-3.0-only
  software: GPL-3.0-only
source:
  repository: https://github.com/MilosRasic98/OpenMobileRoboticManipulator
  ref: 4026ce0e004defeb3b7f395811b6dbc894d7e5b4
tools:
  - 3D printer
  - screwdriver
  - hex key
files:
  cad: CAD/
  images:
    - Pictures/IMG_1571.JPG
specs:
  dof: 5
  power_v: 12
build_steps:
  - title: Print the 3D printed parts from the CAD files
  - title: Assemble the T-slot aluminum subframe
  - title: Mount the wheels with M8 axles and bearings
  - title: Wire the NXP FRDM RW612 board, PCA9685 and L298N drivers
  - title: Mount the 5-DOF arm on the platform
  - title: Flash the firmware and run the Python control scripts