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

format_version: "0.1"
name: THING Tendon Hand
summary: A tendon-driven 7-axis robot hand that mimics the user's hand gestures in real time using MediaPipe vision and ROS 2.
category: other
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/SeMinKong/THING
  ref: 4b39eab065e0bf29226477cf606a801f5490a15d
tools:
  - 3D printer
  - screwdriver
files:
  urdf: thing_ws/src/thing_description/urdf/thing_hand.urdf
  parts_3d: mechanical/stl/
  bom: electronics/bom/BOM.csv
  docs: docs/
  images:
    - docs/daily-reports/2026-07-31/images/integrated-robot-hand.jpg
software:
  framework: ros2
build_steps:
  - title: Clone the repository and pull Git LFS files
  - title: Print the 3D printable parts from mechanical/stl
  - title: Assemble the tendon-driven hand with acrylic brackets, spools and tendons
  - title: Wire the DYNAMIXEL XL330-M288-T motors through the U2D2 interface
  - title: Build the ROS 2 workspace with colcon
  - title: Configure Cyclone DDS and calibrate motor control ranges