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

format_version: "0.1"
name: YUBI
summary: An open-source finger-driven teleoperation glove and DYNAMIXEL-actuated robot gripper for dexterous manipulation.
category: arm
difficulty: advanced
license:
  hardware: CERN-OHL-W-2.0
  software: Apache-2.0
source:
  repository: https://github.com/Toyota/yubi-hw
  ref: dd8bd13d2fd8e5003057243576f88be333d95fc5
tools:
  - 3D printer
files:
  parts_3d: STL/
  cad: STEP/
  docs: docs/
build_steps:
  - title: Source components from the Bill of Materials
  - title: 3D print parts from the STL files
  - title: Follow the assembly instructions to build the hardware
external_links:
  - type: docs
    url: https://github.com/airoa-org/yubi-sw/tree/1eccb041efc4d8966b03e4ccf4b402aa79d78be4
    label: "YUBI's software: the operator-side ROS 2 bringup (airoa-org/yubi-sw, Apache-2.0)"