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

format_version: "0.1"
name: SO-ARM 102
summary: An open-source leader and follower robot arm kit with 5 degrees of freedom plus a gripper, for teleoperation and imitation learning.
category: arm
difficulty: intermediate
license:
  hardware: CERN-OHL-P-2.0
  software: Apache-2.0
source:
  repository: https://github.com/roboninecom/SO-ARM-102
  ref: 8922eafd5487b6e53454dd304132891dfb6f629c
estimated_cost:
  amount: 414.21
  currency: USD
print_time_hours: 21
tools:
  - 3D printer
  - hex keys 1.5 mm
  - hex keys 2 mm
  - soldering iron
files:
  urdf: simulation/urdf/so_arm_102.urdf
  parts_3d: models/stl/
  cad: models/step/
  bom: docs/bom.md
  docs: docs/
  images:
    - assets/images/photos/so-arm-102-live.jpg
software:
  framework: lerobot
specs:
  dof: 5
  reach_mm: 483
  payload_g: 300
build_steps:
  - title: Print the parts
  - title: Buy the hardware
  - title: Assemble
  - title: Set up the software