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

format_version: "0.1"
name: U-Arm
summary: A low-cost, universal leader-follower teleoperation system for commercial robot arms with plug-and-play hardware configurations.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm
  ref: bd31c691e0818367e93a743bb49be4abaaff8b59
estimated_cost:
  amount: 60
  currency: USD
tools:
  - 3D printer
  - soldering iron
  - screwdriver set
  - Allen wrenches
files:
  urdf: src/simulation/mani_skill/assets/robots/ARX-X5/X5A.urdf
  parts_3d: mechanical/
  cad: mechanical/
  images:
    - pics/Xarm.gif
software:
  framework: ros
build_steps:
  - title: Purchase required parts
  - title: 3D print mechanical components
  - title: Assemble hardware
  - title: Set up software environment
  - title: Configure ROS and teleoperation
  - title: Test in simulation and real-world