{
  "asset": "SO-101 official URDF visual-mesh conversion",
  "source_repository": "https://github.com/TheRobotStudio/SO-ARM100",
  "commit": "eecbe3e0a9ebb23e25ad7b2759b03884c6660903",
  "urdf_url": "https://github.com/TheRobotStudio/SO-ARM100/blob/eecbe3e0a9ebb23e25ad7b2759b03884c6660903/Simulation/SO101/so101_new_calib.urdf",
  "license_url": "https://github.com/TheRobotStudio/SO-ARM100/blob/eecbe3e0a9ebb23e25ad7b2759b03884c6660903/LICENSE",
  "license": "Apache License 2.0",
  "license_file": "so101-LICENSE.txt",
  "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": 0.38
  },
  "source_urdf_visual_count": 17,
  "unique_source_mesh_count": 13,
  "mesh_processing": "indexed geometry; 1 mm vertex clustering",
  "source_meshes": [
    "assets/base_motor_holder_so101_v1.stl",
    "assets/base_so101_v2.stl",
    "assets/motor_holder_so101_base_v1.stl",
    "assets/motor_holder_so101_wrist_v1.stl",
    "assets/moving_jaw_so101_v1.stl",
    "assets/rotation_pitch_so101_v1.stl",
    "assets/sts3215_03a_no_horn_v1.stl",
    "assets/sts3215_03a_v1.stl",
    "assets/under_arm_so101_v1.stl",
    "assets/upper_arm_so101_v1.stl",
    "assets/waveshare_mounting_plate_so101_v2.stl",
    "assets/wrist_roll_follower_so101_v1.stl",
    "assets/wrist_roll_pitch_so101_v2.stl"
  ],
  "source_material_rgba": {
    "3d_printed": "1.0 0.82 0.12 1.0",
    "sts3215": "0.1 0.1 0.1 1.0"
  },
  "native_bounds_meters": {
    "min": [
      -0.0428063349436828,
      -0.05546242713325176,
      -0.002400259567763586
    ],
    "max": [
      0.2860563065088205,
      0.055462569301837794,
      0.21862015824143882
    ]
  },
  "builder": "build-so101-model.py"
}