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

format_version: "0.1"
name: OpenEAI-Arm
summary: A low-cost, open-source 6-DoF desktop robot arm with an independently controlled end-effector channel for embodied-AI research and VLA data collection.
category: arm
difficulty: advanced
license:
  hardware: BSD-3-Clause
  software: BSD-3-Clause
source:
  repository: https://github.com/eai-yeslab/OpenEAI-Arm
  ref: be3ea1ec1732f3856234d8544532d3ded9527c7a
estimated_cost:
  amount: 5500
  currency: CNY
tools:
  - 3D printer
  - hex keys
files:
  urdf: software/ros2/src/openeai_arm_urdf_ros2/urdf/STEP.urdf
  parts_3d: hardware/stl/
  cad: hardware/STEP/
  images:
    - assets/images/openeai-arm-overview.png
software:
  framework: ros2
specs:
  dof: 6
  power_w: 420
  reach_mm: 636.7
  weight_kg: 3.3
  payload_kg: 2