{
  "asset": "SO-101 with NORMA PGripper and wrist camera, static concept",
  "source_repository": "https://github.com/norma-core/norma-core",
  "commit": "b935fc4b887e576538921b15630a30db22759ec8",
  "license": "Apache-2.0",
  "license_file": "pgripper-LICENSE.txt",
  "arm_source": "so101-source.json",
  "adaptation_revision": "63d76152bc4d8d9c27fdc2b518915fa1dedca0fe",
  "mount_position_m": [
    0,
    -0.0611,
    0.0181
  ],
  "mount_rpy_rad": [
    3.14151353,
    1.52211682,
    -7.819e-05
  ],
  "mount_axis": [
    0,
    -1,
    0
  ],
  "opening_rad": 1.75,
  "inner_gap_m": 0.04061887535464584,
  "units": "meters",
  "up_axis": "Z",
  "static_display_pose_radians": {
    "shoulder_pan": 0.0,
    "shoulder_lift": -0.95,
    "elbow_flex": 1.35,
    "wrist_flex": -0.45,
    "wrist_roll": 0.15,
    "gripper": 1.75
  },
  "native_bounds_meters": {
    "min": [
      -0.04280633494369013,
      -0.05546242713325176,
      -0.0024002595677567436
    ],
    "max": [
      0.28546211378269015,
      0.055462569301837794,
      0.2513164053434541
    ]
  },
  "sha256": {
    "hardware/elrobot/simulation/elrobot_follower.urdf": "eb355948d0e02268587491123ba9c4704e70bb1782298d86bcad1280ff86d1cb",
    "hardware/elrobot/simulation/assets/Gripper_Base_v1_1.stl": "ff0c113090056f6211368eb0a20138caef245c7e490793821e85c92c53301900",
    "hardware/elrobot/simulation/assets/ST3215_8_v1_1.stl": "4aebce2fef7b4a946c332c94075e369c3c2667237c0a89c07ff6dddcf5dd3507",
    "hardware/elrobot/simulation/assets/Gripper_Gear_v1_1.stl": "0c6e45bbd7115b1e6a346af11e5ee331d2eaebb2780b51f8c519893e14bff3a5",
    "hardware/elrobot/simulation/assets/Gripper_Jaw_01_v1_1.stl": "3efe42f96b3cbe4b9c5db59fb3c3f395647b098f1a93de98889672dc07ecaaa1",
    "hardware/elrobot/simulation/assets/Gripper_Jaw_02_v1_1.stl": "d615ada9f3bee9d44b75cefbbbe1fb8d3687664a57871891f1a6047a59df13b7",
    "hardware/pgripper/STL/camera_mounts/CameraMount_square_27mm.stl": "3191faa66b87c20fbdd3596b7691017083a82afd3348761623bab2aaa39e8f32",
    "hardware/pgripper/LICENSE": "c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4"
  },
  "removed_stock_visuals": [
    "moving_jaw_so101_v1_link__visual_0",
    "gripper_link__visual_1",
    "gripper_link__visual_0"
  ],
  "visual_count": 22,
  "camera_mount_measured": false,
  "physical_left_replacement_verified": false,
  "hardware_execution": false,
  "note": "Both sides visualize the requested SIM configuration. Source CAD is clustered at 1 mm; PCB/lens are proxies. No simulation or physical success implied.",
  "builder": "build-pgripper-model.py"
}