{ "meta": { "step": "upstream/SO-ARM100/STEP/SO101/SO101 Assembly.step", "upstream_commit": "eecbe3e", "units": "m", "up": "Y", "transform": "row-major 4x4, GLB frame" }, "placements": [ { "kind": "part", "id": "base-so101", "mesh": "base-so101.glb", "name": "Base_SO101 v12:1", "path": "SO101 Assembly v4", "transform": [ 1.0, 0.0, 0.0, 0.0, 0.0, -0.0, -1.0, 0.000394296, -0.0, 1.0, -0.0, -0.037922153, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "rotation-pitch-so101", "mesh": "rotation-pitch-so101.glb", "name": "Rotation_Pitch_SO101 v8:1", "path": "SO101 Assembly v4", "transform": [ -0.0, 1.0, 0.0, -9.9432e-5, 0.008726535, 0.0, -0.999961923, 0.019487879, -0.999961923, -0.0, -0.008726535, -0.00483198, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "upper-arm-so101", "mesh": "upper-arm-so101.glb", "name": "=>[0:1:1:7]", "path": "SO101 Assembly v4/Upper_arm_SO101 v9:1", "transform": [ 0.008726535, -0.999961923, 0.0, 0.001475143, -0.008726203, -7.6152e-5, -0.999961923, 0.108326966, 0.999923848, 0.008726203, -0.008726535, -0.026461585, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "under-arm-so101", "mesh": "under-arm-so101.glb", "name": "=>[0:1:1:10]", "path": "SO101 Assembly v4/Under_arm_SO101 v12:1", "transform": [ -0.008726535, -0.999923848, -0.008726203, 0.004398963, 0.008726203, -0.008802353, 0.999923183, 0.1160481, -0.999923848, 0.008649719, 0.008802353, -0.009153487, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "base-motor-holder-so101", "mesh": "base-motor-holder-so101.glb", "name": "Base_08p v18:1", "path": "SO101 Assembly v4", "transform": [ 1.0, 0.0, -0.0, -9.9432e-5, -0.0, -0.0, -1.0, 0.000394296, -0.0, 1.0, -0.0, -0.037922153, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "aka", "note": "matched via aka; part stays unverified (D-005)", "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "motor-holder-so101-base", "mesh": "motor-holder-so101-base.glb", "name": "=>[0:1:1:16]", "path": "SO101 Assembly v4/Motor_holder_SO101_Base v6:1", "transform": [ 0.0, -1.0, 0.0, -0.000299432, -0.999961923, -0.0, 0.008726535, 0.04934043, -0.008726535, -0.0, -0.999961923, 0.075231578, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "motor-holder-so101-wrist", "mesh": "motor-holder-so101-wrist.glb", "name": "=>[0:1:1:20]", "path": "SO101 Assembly v4/Motor_holder_SO101_Wrist v8:1", "transform": [ -0.008726535, -0.999923848, -0.008726203, 0.004198978, 0.008726203, -0.008802353, 0.999923183, 0.116046339, -0.999923848, 0.008649719, 0.008802353, -0.009151757, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "wrist-roll-pitch-so101", "mesh": "wrist-roll-pitch-so101.glb", "name": "=>[0:1:1:23]", "path": "SO101 Assembly v4/Wrist_Roll_Pitch_SO100 v15:1", "transform": [ 0.999847701, -6.65e-7, -0.017452074, 0.005534811, 0.017451404, 0.008802682, 0.999808962, 0.152321182, 0.000152961, -0.999961256, 0.008801353, 0.088578414, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "aka", "note": "matched via aka; part stays unverified (D-005)", "feature": null, "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "wrist-roll-follower-so101", "mesh": "wrist-roll-follower-so101.glb", "name": "=>[0:1:1:28]", "path": "SO101 Assembly v4/Wrist_Roll_Follower_SO101 v10:1", "transform": [ -0.017452076, 6.65e-7, 0.999847701, 0.006843626, 0.999808962, -0.008802682, 0.017451406, 0.152057056, 0.008801353, 0.999961256, 0.000152961, 0.121177644, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "moving-jaw-so101", "mesh": "moving-jaw-so101.glb", "name": "Moving_Jaw_SO101 v3:1", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999961926, -0.008726205, 0.006367508, 0.008802682, -0.008725873, 0.999923183, 0.171913453, -0.999961256, -7.615e-5, 0.008802353, 0.145703091, 0.0, 0.0, 0.0, 1.0 ], "approximation": false, "via": "geometry_names", "note": null, "feature": null, "assembly": ["follower"], "host": null, "joint": null, "step": null }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:1", "path": "SO101 Assembly v4", "transform": [ 1.0, 0.0, -0.0, -0.01025, 0.0, -1.0, 0.0, 0.033381652, -0.0, -0.0, -1.0, -0.025522153, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-so101"], "joint": null, "step": { "follower": "F-011", "leader": "L-011" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:2", "path": "SO101 Assembly v4", "transform": [ 1.0, 0.0, -0.0, 0.01025, 0.0, -1.0, 0.0, 0.033381652, -0.0, -0.0, -1.0, -0.025522153, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-so101"], "joint": null, "step": { "follower": "F-011", "leader": "L-011" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:3", "path": "SO101 Assembly v4", "transform": [ 0.0, 1.0, -0.0, 0.015463211, -0.0, 0.0, 1.0, 0.048494296, 1.0, -0.0, 0.0, -0.042419912, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-motor-holder-so101", "base-so101"], "joint": null, "step": { "follower": "F-012", "leader": "L-012" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:4", "path": "SO101 Assembly v4", "transform": [ 0.0, -1.0, -0.0, -0.015662076, -0.0, 0.0, -1.0, 0.048494296, 1.0, 0.0, -0.0, -0.042419912, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-motor-holder-so101"], "joint": null, "step": { "follower": "F-012", "leader": "L-012" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 0-48 x 0.1875 Type AB Steel Grade 2 Plain v1:1", "path": "SO101 Assembly v4", "transform": [ 1.0, -0.0, 0.0, -0.0105, 0.0, 1.0, -0.0, 0.059831796, -0.0, 0.0, 1.0, -0.022022153, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "the two upper motor-1 tab screws, modelled one size down (#0-48) from the other 22 (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-so101"], "joint": null, "step": { "follower": "F-011", "leader": "L-011" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 0-48 x 0.1875 Type AB Steel Grade 2 Plain v1:2", "path": "SO101 Assembly v4", "transform": [ 1.0, -0.0, 0.0, 0.0105, 0.0, 1.0, -0.0, 0.059831796, -0.0, 0.0, 1.0, -0.022022153, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "the two upper motor-1 tab screws, modelled one size down (#0-48) from the other 22 (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["base-so101"], "joint": null, "step": { "follower": "F-011", "leader": "L-011" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:5", "path": "SO101 Assembly v4", "transform": [ 0.0, 1.0, -0.0, 0.013513211, -0.999961923, 0.0, -0.008726535, 0.087002994, -0.008726535, 0.0, 0.999961923, 0.028108447, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["motor-holder-so101-base"], "joint": null, "step": { "follower": "F-021", "leader": "L-021" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:6", "path": "SO101 Assembly v4", "transform": [ 0.0, 1.0, 0.0, 0.013613211, 0.008726535, 0.0, -0.999961923, 0.0868241, -0.999961923, 0.0, -0.008726535, 0.048607666, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["rotation-pitch-so101"], "joint": null, "step": { "follower": "F-021", "leader": "L-021" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:7", "path": "SO101 Assembly v4", "transform": [ 0.0, -1.0, -0.0, -0.013012076, 0.008726535, -0.0, 0.999961923, 0.090623955, -0.999961923, -0.0, 0.008726535, 0.048640827, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["rotation-pitch-so101"], "joint": null, "step": { "follower": "F-021", "leader": "L-021" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:8", "path": "SO101 Assembly v4", "transform": [ 0.0, -1.0, 0.0, -0.013112076, -0.999961923, -0.0, 0.008726535, 0.090802849, -0.008726535, -0.0, -0.999961923, 0.028141608, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["motor-holder-so101-base"], "joint": null, "step": { "follower": "F-021", "leader": "L-021" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:9", "path": "SO101 Assembly v4", "transform": [ 0.008726535, -0.999961923, 0.0, -0.011840098, -0.008726203, -7.6152e-5, -0.999961923, 0.119828637, 0.999923848, 0.008726203, -0.008726535, -0.083899397, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-031", "leader": "L-031" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:10", "path": "SO101 Assembly v4", "transform": [ 0.008726535, -0.999961923, 0.0, -0.011661204, -0.008726203, -7.6152e-5, -0.999961923, 0.11964975, 0.999923848, 0.008726203, -0.008726535, -0.063400958, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-031", "leader": "L-031" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:11", "path": "SO101 Assembly v4", "transform": [ 0.008726535, 0.999961923, -0.0, 0.014783435, -0.008726203, 7.6152e-5, 0.999961923, 0.116031551, 0.999923848, -0.008726203, 0.008726535, -0.084249878, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-031", "leader": "L-031" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:12", "path": "SO101 Assembly v4", "transform": [ 0.008726535, 0.999961923, -0.0, 0.014962329, -0.008726203, 7.6152e-5, 0.999961923, 0.115852664, 0.999923848, -0.008726203, 0.008726535, -0.063751439, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-031", "leader": "L-031" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:13", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.018300446, 0.008726203, 0.008802353, -0.999923183, 0.142792563, -0.999923848, -0.008649719, -0.008802353, 0.028211331, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-042", "leader": "L-042" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:14", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.017921575, 0.008726203, 0.008802353, -0.999923183, 0.163289228, -0.999923848, -0.008649719, -0.008802353, 0.02839351, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["motor-holder-so101-wrist"], "joint": null, "step": { "follower": "F-042", "leader": "L-042" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:15", "path": "SO101 Assembly v4", "transform": [ -0.008726535, -0.999923848, -0.008726203, -0.008289653, 0.008726203, -0.008802353, 0.999923183, 0.142525038, -0.999923848, 0.008649719, 0.008802353, 0.032241343, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-042", "leader": "L-042" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:16", "path": "SO101 Assembly v4", "transform": [ -0.008726535, -0.999923848, -0.008726203, -0.008668525, 0.008726203, -0.008802353, 0.999923183, 0.163021703, -0.999923848, 0.008649719, 0.008802353, 0.032423521, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["motor-holder-so101-wrist"], "joint": null, "step": { "follower": "F-042", "leader": "L-042" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:17", "path": "SO101 Assembly v4", "transform": [ -0.017452076, -0.999847701, 6.65e-7, -0.006128888, 0.999808962, -0.017451406, -0.008802682, 0.139105086, 0.008801353, -0.000152961, 0.999961256, 0.135163889, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-follower-so101", "wrist-roll-so101"], "joint": null, "step": { "follower": "F-061", "leader": "L-062" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:18", "path": "SO101 Assembly v4", "transform": [ -0.017452076, -0.999847701, 6.65e-7, -0.006128875, 0.999808962, -0.017451406, -0.008802682, 0.138924631, 0.008801353, -0.000152961, 0.999961256, 0.155663095, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-follower-so101", "wrist-roll-so101"], "joint": null, "step": { "follower": "F-061", "leader": "L-062" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:19", "path": "SO101 Assembly v4", "transform": [ 0.999847701, 6.65e-7, 0.017452074, 0.03435153, 0.017451404, -0.008802682, -0.999808962, 0.162828728, 0.000152961, 0.999961256, -0.008801353, 0.116684622, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-050", "leader": "L-050" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:20", "path": "SO101 Assembly v4", "transform": [ 0.999847701, 6.65e-7, 0.017452074, 0.034709297, 0.017451404, -0.008802682, -0.999808962, 0.142332645, 0.000152961, 0.999961256, -0.008801353, 0.116504194, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-050", "leader": "L-050" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:21", "path": "SO101 Assembly v4", "transform": [ -0.017452076, 0.999847701, -6.65e-7, 0.020626009, 0.999808962, 0.017451406, 0.008802682, 0.143192044, 0.008801353, 0.000152961, -0.999961256, 0.155700643, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-follower-so101", "wrist-roll-so101"], "joint": null, "step": { "follower": "F-061", "leader": "L-062" } }, { "kind": "fastener", "id": "motor-tab-screw", "mesh": "fastener-motor-tab-screw.glb", "name": "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB Steel Grade 2 Plain v1:22", "path": "SO101 Assembly v4", "transform": [ -0.017452076, 0.999847701, -6.65e-7, 0.020625996, 0.999808962, 0.017451406, 0.008802682, 0.143372499, 0.008801353, 0.000152961, -0.999961256, 0.135201437, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "STEP models the motor-tab screws as #1-42 x 3/16 in tapping screws; data keeps the LeRobot M2x6 label (D-001)", "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-follower-so101", "wrist-roll-so101"], "joint": null, "step": { "follower": "F-061", "leader": "L-062" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:1", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999961926, -0.008726205, -0.008574019, 0.008802682, -0.008725873, 0.999923183, 0.166789755, -0.999961256, -7.615e-5, 0.008802353, 0.150607936, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower"], "host": ["moving-jaw-so101"], "joint": null, "step": { "follower": "F-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:2", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999961926, -0.008726205, -0.008574025, 0.008802682, -0.008725873, 0.999923183, 0.166876897, -0.999961256, -7.615e-5, 0.008802353, 0.140708825, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower"], "host": ["moving-jaw-so101"], "joint": null, "step": { "follower": "F-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:3", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999961926, -0.008726205, -0.008660404, 0.008802682, -0.008725873, 0.999923183, 0.176688489, -0.999961256, -7.615e-5, 0.008802353, 0.150695075, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower"], "host": ["moving-jaw-so101"], "joint": null, "step": { "follower": "F-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:4", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999961926, -0.008726205, -0.00866041, 0.008802682, -0.008725873, 0.999923183, 0.176775631, -0.999961256, -7.615e-5, 0.008802353, 0.140795963, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower"], "host": ["moving-jaw-so101"], "joint": null, "step": { "follower": "F-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:5", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999847701, -0.017452074, -0.009634582, 0.008802682, -0.017451404, 0.999808962, 0.157209629, -0.999961256, -0.000152961, 0.008801353, 0.065570311, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-052", "leader": "L-052" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:6", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999847701, -0.017452074, -0.009461822, 0.008802682, -0.017451404, 0.999808962, 0.147399167, -0.999961256, -0.000152961, 0.008801353, 0.055584071, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-052", "leader": "L-052" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:7", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999847701, -0.017452074, -0.009461816, 0.008802682, -0.017451404, 0.999808962, 0.147312025, -0.999961256, -0.000152961, 0.008801353, 0.065483182, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-052", "leader": "L-052" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:8", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, -0.999847701, -0.017452074, -0.009634589, 0.008802682, -0.017451404, 0.999808962, 0.157296771, -0.999961256, -0.000152961, 0.008801353, 0.0556712, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["wrist-roll-pitch-so101"], "joint": null, "step": { "follower": "F-052", "leader": "L-052" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:9", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, 0.999961926, 0.008726205, 0.022795372, 0.008802682, 0.008725873, -0.999923183, 0.16706349, -0.999961256, 7.615e-5, -0.008802353, 0.150610325, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["moving-jaw-so101", "trigger-so101"], "joint": null, "step": { "follower": "F-063", "leader": "L-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:10", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, 0.999961926, 0.008726205, 0.022708981, 0.008802682, 0.008725873, -0.999923183, 0.177049367, -0.999961256, 7.615e-5, -0.008802353, 0.140798352, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["moving-jaw-so101", "trigger-so101"], "joint": null, "step": { "follower": "F-063", "leader": "L-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:11", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, 0.999961926, 0.008726205, 0.022795366, 0.008802682, 0.008725873, -0.999923183, 0.167150632, -0.999961256, 7.615e-5, -0.008802353, 0.140711213, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["moving-jaw-so101", "trigger-so101"], "joint": null, "step": { "follower": "F-063", "leader": "L-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:12", "path": "SO101 Assembly v4", "transform": [ -6.65e-7, 0.999961926, 0.008726205, 0.022708987, 0.008802682, 0.008725873, -0.999923183, 0.176962225, -0.999961256, 7.615e-5, -0.008802353, 0.150697464, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["moving-jaw-so101", "trigger-so101"], "joint": null, "step": { "follower": "F-063", "leader": "L-063" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:13", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.019237909, 0.008726203, 0.008802353, -0.999923183, 0.153655777, -0.999923848, -0.008649719, -0.008802353, -0.068859514, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-032", "leader": "L-032" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:14", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.019151521, 0.008726203, 0.008802353, -0.999923183, 0.153742162, -0.999923848, -0.008649719, -0.008802353, -0.078758255, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-032", "leader": "L-032" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:15", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.019324294, 0.008726203, 0.008802353, -0.999923183, 0.143757043, -0.999923848, -0.008649719, -0.008802353, -0.068946653, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-032", "leader": "L-032" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:16", "path": "SO101 Assembly v4", "transform": [ -0.008726535, 0.999923848, 0.008726203, 0.019237906, 0.008726203, 0.008802353, -0.999923183, 0.143843428, -0.999923848, -0.008649719, -0.008802353, -0.078845394, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["under-arm-so101"], "joint": null, "step": { "follower": "F-032", "leader": "L-032" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:17", "path": "SO101 Assembly v4", "transform": [ 0.008726535, 0.999961923, -0.0, 0.017770999, -0.008726203, 7.6152e-5, 0.999961923, 0.114767007, 0.999923848, -0.008726203, 0.008726535, 0.04349247, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-022", "leader": "L-022" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:18", "path": "SO101 Assembly v4", "transform": [ 0.008726535, 0.999961923, -0.0, 0.017684611, -0.008726203, 7.6152e-5, 0.999961923, 0.12475251, 0.999923848, -0.008726203, 0.008726535, 0.033680117, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": null, "assembly": ["follower", "leader"], "host": ["upper-arm-so101"], "joint": null, "step": { "follower": "F-022", "leader": "L-022" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "Pan Head Screw DIN EN ISO 7045 - M3 x 6 - H Steel 4.6 Plain v1:19", "path": "SO101 Assembly v4", "transform": [ 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"step": null }, { "kind": "servo", "id": "servo-sts3215-c001-345", "mesh": "servo-sts3215.glb", "name": "ST3215 Servo v2:6", "path": "SO101 Assembly v4", "transform": [ -0.008726205, -6.65e-7, -0.999961926, 0.026116756, 0.999923183, 0.008802682, -0.008725873, 0.172085789, 0.008802353, -0.999961256, -7.615e-5, 0.145704595, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "follower arm model: all six slots carry the 1:345 servo; leader variants are placed by servo_slot in the viewer", "feature": "upstream STS3215_03a body on the vendor transform: shaft axis from the drive-horn centre (offset [12.5, -0.0] from the vendor bbox centre), case mid-height at the vendor bbox centre; vendor bbox [45.2, 36.3, 24.7], axes len/h/w = 0/1/2", "assembly": ["follower"], "host": null, "joint": "gripper", "step": null }, { "kind": "horn", "id": "servo-horn-geared", "mesh": "servo-horn-geared.glb", "name": "金属舵盘（驱动） v2:1", "path": "SO101 Assembly v4/ST3215 Servo v2:1/SCS215 v6_7:1", 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servo; outline drawn as the ø19.95 circle", "assembly": ["follower", "leader"], "host": null, "joint": "wrist_flex", "step": null }, { "kind": "horn", "id": "servo-horn-geared", "mesh": "servo-horn-geared.glb", "name": "金属舵盘（驱动） v2:1", "path": "SO101 Assembly v4/ST3215 Servo v2:5/SCS215 v6_7:1", "transform": [ 0.999847701, 0.017452076, -6.65e-7, -0.002936687, 0.017451406, -0.999808962, 0.008802682, 0.152115662, 0.000152961, -0.008801353, -0.999961256, 0.095126864, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": "datasheet horn (section 10) on the vendor horn's transform: outer face flush with the vendor extent, hub toward the servo; outline drawn as the ø19.95 circle", "assembly": ["follower", "leader"], "host": null, "joint": "wrist_roll", "step": null }, { "kind": "horn", "id": "servo-horn-geared", "mesh": "servo-horn-geared.glb", "name": "金属舵盘（驱动） v2:1", "path": "SO101 Assembly v4/ST3215 Servo v2:6/SCS215 v6_7:1", "transform": [ 0.008726205, 6.65e-7, -0.999961926, -0.000969478, -0.999923183, -0.008802682, -0.008725873, 0.181849422, -0.008802353, 0.999961256, -7.615e-5, 0.145790562, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": "datasheet horn (section 10) on the vendor horn's transform: outer face flush with the vendor extent, hub toward the servo; outline drawn as the ø19.95 circle", "assembly": ["follower"], "host": null, "joint": "gripper", "step": null }, { "kind": "horn", "id": "servo-horn-plain", "mesh": "servo-horn-plain.glb", "name": "金属舵盘（从动） v2:1", "path": "SO101 Assembly v4/ST3215 Servo v2:6/SCS215 v6_7:1", "transform": [ -0.008726205, 6.65e-7, 0.999961926, -0.032843734, 0.999923183, -0.008802682, 0.008725873, 0.161571294, 0.008802353, 0.999961256, 7.615e-5, 0.145612075, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": null, "feature": "datasheet horn (section 10) on the vendor horn's transform: outer face flush with the vendor extent, hub toward the servo; outline drawn as the ø19.95 circle", "assembly": ["follower"], "host": null, "joint": "gripper", "step": null }, { "kind": "board", "id": "motor-control-board", "mesh": "motor-control-board.glb", "name": "Bus Servo Adapter (A) v3:1", "path": "SO101 Assembly v4", "transform": [ 0.0, 0.0, 1.0, -0.0, -1.0, -0.0, 0.0, 0.0, 0.0, -1.0, 0.0, -0.15, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "rule", "note": "bounding box of the vendor PCB model", "feature": "union bbox of all board components in the sub-assembly frame", "assembly": ["follower", "leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "wrist-roll-so101", "mesh": "wrist-roll-so101.glb", "name": "Wrist_Roll_SO101 (hand-placed)", "path": "hand-placed", "transform": [ -0.017452076, 6.65e-7, 0.999847701, 0.007063593, 0.999808962, -0.008802682, 0.017451406, 0.152052533, 0.008801353, 0.999961256, 0.000152961, 0.122127641, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": "leader holder on the wrist-roll (motor 5) drive horn; D-005", "feature": "stepped horn recess r10/r12/r11.24/r13.24 about +Z at the origin, matched to the same recess on Wrist_Roll_Follower_SO101 (offset y -0.22, z +0.95 mm); in-plane heading from centre of mass (both -X)", "assembly": ["leader"], "host": null, "joint": null, "step": null }, { "kind": "servo", "id": "servo-sts3215-c001-345", "mesh": "servo-sts3215.glb", "name": "ST3215 Servo v2:6 (leader, hand-placed)", "path": "hand-placed", "transform": [ -0.008726205, -6.65e-7, -0.999961926, 0.026336723, 0.999923183, 0.008802682, -0.008725873, 0.172081265, 0.008802353, -0.999961256, -7.615e-5, 0.146654592, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": "leader gripper servo; the leader holder's servo pocket is assumed to sit where the follower body's does", "feature": "same pocket as the follower gripper body, expressed relative to the shared horn recess", "assembly": ["leader"], "host": null, "joint": "gripper", "step": null }, { "kind": "horn", "id": "servo-horn-geared", "mesh": "servo-horn-geared.glb", "name": "金属舵盘（驱动） v2:1 (leader, hand-placed)", "path": "hand-placed", "transform": [ 0.008726205, 6.65e-7, -0.999961926, -0.000749511, -0.999923183, -0.008802682, -0.008725873, 0.181844899, -0.008802353, 0.999961256, -7.615e-5, 0.146740559, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": null, "feature": "re-based with the leader gripper servo", "assembly": ["leader"], "host": null, "joint": "gripper", "step": null }, { "kind": "horn", "id": "servo-horn-plain", "mesh": "servo-horn-plain.glb", "name": "金属舵盘（从动） v2:1 (leader, hand-placed)", "path": "hand-placed", "transform": [ -0.008726205, 6.65e-7, 0.999961926, -0.032623767, 0.999923183, -0.008802682, 0.008725873, 0.161566771, 0.008802353, 0.999961256, 7.615e-5, 0.146562071, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": null, "feature": "re-based with the leader gripper servo", "assembly": ["leader"], "host": null, "joint": "gripper", "step": null }, { "kind": "part", "id": "trigger-so101", "mesh": "trigger-so101.glb", "name": "Trigger_SO101 (hand-placed)", "path": "hand-placed", "transform": [ 0.002061807, 0.999961926, 0.008479128, 0.025472048, -0.227780146, 0.008725873, -0.97367349, 0.17207372, -0.973710406, 7.615e-5, 0.227789464, 0.146654526, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": "trigger on the leader gripper servo's drive horn; D-005", "feature": "four r=1.6 holes on the r=7 horn pattern set on the STEP's drive-side gripper screws (head base 4.4 mm out from the horn centre, plate 3.5 mm); rotation about the horn axis (solution 2 of 4) chosen so the finger loop points down and toward the gripper tip as in the upstream leader photo; the loop's rest angle and the leader servo pocket are assumptions, so it overlaps the holder", "assembly": ["leader"], "host": null, "joint": null, "step": null }, { "kind": "part", "id": "handle-so101", "mesh": "handle-so101.glb", "name": "Handle_SO101 (hand-placed)", "path": "hand-placed", "transform": [ -0.017452076, 6.65e-7, 0.999847701, 0.007063593, 0.999808962, -0.008802682, 0.017451406, 0.152052533, 0.008801353, 0.999961256, 0.000152961, 0.122127641, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": "handle under the leader holder, fixed by one M2x6 in the coaxial hole pair; pose exact relative to the holder, which is itself a recess match (D-005)", "feature": "same authoring frame as Wrist_Roll_SO101: the handle's r=1.1 M2 hole (-27.26, 0, 40) and the holder's r=0.6 pilot hole (-25.69, 0, 39.49) share the axis (0.951, 0, -0.309); the handle takes the holder's transform unchanged", "assembly": ["leader"], "host": null, "joint": null, "step": null }, { "kind": "fastener", "id": "m2x6", "mesh": "fastener-m2x6.glb", "name": "M2x6 handle screw (hand-placed)", "path": "hand-placed", "transform": [ -0.005392378, 0.016598109, 0.999847701, 0.007439774, 0.300587354, -0.953594616, 0.017451406, 0.130167201, 0.953739044, 0.300635679, 0.000152961, 0.160082352, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "hand", "note": "not modelled in the STEP: placed in the handle's M2 hole, on the axis of the holder's pilot hole (LeRobot: \"Attach the handle to the leader holder using 1 M2x6mm screw\")", "feature": "handle hole (-27.26, 0, 40) -> holder pilot (-25.69, 0, 39.49) along (0.951, 0, -0.309), holder frame", "assembly": ["leader"], "host": ["wrist-roll-so101"], "joint": null, "step": { "leader": "L-061" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (shoulder_pan, synthesized)", "path": "SO101 Assembly v4/ST3215 Servo v2:1/SCS215 v6_7:1", "transform": [ 1.0, 0.0, 0.0, -9.9432e-5, 0.0, 0.999961923, -0.008726535, 0.059805574, 0.0, 0.008726535, 0.999961923, 0.007528842, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["follower", "leader"], "host": [], "joint": "shoulder_pan", "step": { "follower": "F-010", "leader": "L-010" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (shoulder_lift, synthesized)", "path": "SO101 Assembly v4/ST3215 Servo v2:2/SCS215 v6_7:1", "transform": [ 0.0, -0.999961923, 0.008726535, -0.011030234, 0.999961923, -7.6152e-5, -0.008726203, 0.119757494, 0.008726535, 0.008726203, 0.999923848, 0.038845769, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["follower", "leader"], "host": [], "joint": "shoulder_lift", "step": { "follower": "F-020", "leader": "L-020" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (elbow_flex, synthesized)", "path": "SO101 Assembly v4/ST3215 Servo v2:3/SCS215 v6_7:1", "transform": [ -0.008726871, -0.999923848, 0.008725868, -0.009528963, 0.999923848, -0.008802353, -0.008649719, 0.148487862, 0.008725868, 0.008649719, 0.999924518, -0.073595253, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["follower", "leader"], "host": [], "joint": "elbow_flex", "step": { "follower": "F-030", "leader": "L-030" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (wrist_flex, synthesized)", "path": "SO101 Assembly v4/ST3215 Servo v2:4/SCS215 v6_7:1", "transform": [ -0.01745138, -0.999847701, -0.000155654, -0.007460915, 0.999847701, -0.017451404, 0.000152961, 0.15232421, -0.000155654, -0.000152961, 0.999999976, 0.060577364, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["follower", "leader"], "host": [], "joint": "wrist_flex", "step": { "follower": "F-040", "leader": "L-040" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (gripper, synthesized)", "path": "SO101 Assembly v4/ST3215 Servo v2:6/SCS215 v6_7:1", "transform": [ 0.008725879, 0.999961926, -7.5488e-5, 0.020140936, -0.999961926, 0.008725873, -7.615e-5, 0.172042159, -7.5488e-5, 7.615e-5, 0.999999994, 0.145704214, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["follower"], "host": [], "joint": "gripper", "step": { "follower": "F-062" } }, { "kind": "fastener", "id": "m3x6", "mesh": "fastener-m3x6.glb", "name": "M3x6 horn screw (gripper, synthesized)", "path": "hand-placed", "transform": [ 0.008725879, 0.999961926, -7.5488e-5, 0.020360903, -0.999961926, 0.008725873, -7.615e-5, 0.172037636, -7.5488e-5, 7.615e-5, 0.999999994, 0.146654211, 0.0, 0.0, 0.0, 1.0 ], "approximation": true, "via": "derived", "note": "not modelled in the STEP: placed on the drive-horn axis with its head on the horn's outer face (LeRobot: \"Secure the top horn with a M3x6mm screw\")", "feature": "drive-horn axis; head base at the horn's outer face; shank into the output shaft", "assembly": ["leader"], "host": [], "joint": "gripper", "step": { "leader": "L-062" } } ], "unplaced": [] }