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

format_version: "0.1"
name: RAVEN
summary: A 3-DOF robotic manipulator arm built on quasi-direct-drive actuators, with CAD, URDF and 3D-printable parts.
category: arm
difficulty: advanced
license:
  hardware: CERN-OHL-S-2.0
  software: CC-BY-4.0
source:
  repository: https://github.com/jaebin401/RAVEN_hardware
  ref: 8716886dbb85af924dc5aa115d8d4cf94d82cde8
tools:
  - 3D printer
files:
  urdf: urdf/urdf/RAVEN.urdf
  parts_3d: cad/part files - .3mf/
  cad: cad/
  docs: docs/
  images:
    - images/RAVEN_in_real.jpeg
specs:
  dof: 3
  reach_mm: 250