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haixuantao commited on Jun 14

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8891a8e

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1 Parent(s): 833a304

test

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.gitattributes +16 -0
404.html +1 -0
URDF/assets/base_motor_holder_so101_v1.stl +3 -0
URDF/assets/base_so101_v2.stl +3 -0
URDF/assets/motor_holder_so101_base_v1.stl +3 -0
URDF/assets/motor_holder_so101_wrist_v1.stl +3 -0
URDF/assets/moving_jaw_so101_v1.stl +3 -0
URDF/assets/rotation_pitch_so101_v1.stl +3 -0
URDF/assets/sts3215_03a_no_horn_v1.stl +3 -0
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URDF/assets/upper_arm_so101_v1.stl +3 -0
URDF/assets/waveshare_mounting_plate_so101_v2.stl +0 -0
URDF/assets/wrist_roll_follower_so101_v1.stl +3 -0
URDF/assets/wrist_roll_pitch_so101_v2.stl +3 -0
URDF/so101.urdf +411 -0
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.gitattributes CHANGED Viewed

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+so-arm100.jpg filter=lfs diff=lfs merge=lfs -text
+sts3215.png filter=lfs diff=lfs merge=lfs -text

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Please use Chrome.</div></a><div class="text-2xl e"><a href="https://shop.wowrobo.com/products/so-arm101-diy-kit-assembled-version-1?sca_ref=8999006.W1G76EYstQkFoP"><a href="https://shop.wowrobo.com/products/so-arm101-diy-kit-assembled-version-1?sca_ref=8999006.W1G76EYstQkFoP">Buy assembled SO101 with 5% Discount on WowRobo with the code: <span class="text-red-500"> 1ms.ai</span></a></a></div><a class="github-button" href="https://github.com/dora-bambot/dora-bambot.github.io" data-size="large" data-show-count="true" aria-label="Star timqian/bambot on GitHub">Star</a></header><div style="font-family:system-ui,"Segoe UI",Roboto,Helvetica,Arial,sans-serif,"Apple Color Emoji","Segoe UI Emoji";height:100vh;text-align:center;display:flex;flex-direction:column;align-items:center;justify-content:center"><div><style>body{color:#000;background:#fff;margin:0}.next-error-h1{border-right:1px solid rgba(0,0,0,.3)}@media 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+<?xml version="1.0" ?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
+<robot name="so100">
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
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+      <mass value="0.147"/>
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+    </collision>
+    <!-- Part base_so101_v2 -->
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+      <geometry>
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+    <!-- Part sts3215_03a_v1 -->
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+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.19402 -0.168267 0.0798817" rpy="1.5708 -1.35493e-14 1.5708"/>
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Frame baseframe (dummy link + fixed joint) -->
+  <link name="baseframe">
+    <origin xyz="0 0 0" rpy="0 -0 0"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1e-9"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <joint name="baseframe_frame" type="fixed">
+    <origin xyz="-0.163038 -0.168068 0.0324817" rpy="1.6144e-15 7.84513e-18 1.33799e-15"/>
+    <parent link="base"/>
+    <child link="baseframe"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Link shoulder -->
+  <link name="shoulder">
+    <inertial>
+      <origin xyz="-0.0307604 -1.66727e-05 -0.0252713" rpy="0 0 0"/>
+      <mass value="0.100006"/>
+      <inertia ixx="8.3759e-05" ixy="7.55525e-08" ixz="-1.16342e-06" iyy="8.10403e-05" iyz="1.54663e-07" izz="2.39783e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_2 -->
+    <visual>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215_03a_v1_2_material">
+        <color rgba="0.627451 0.627451 0.627451 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_base_v1 -->
+    <visual>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl"/>
+      </geometry>
+      <material name="motor_holder_so101_base_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part rotation_pitch_so101_v1 -->
+    <visual>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0"/>
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl"/>
+      </geometry>
+      <material name="rotation_pitch_so101_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0"/>
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link upper_arm -->
+  <link name="upper_arm">
+    <inertial>
+      <origin xyz="-0.0898471 -0.00838224 0.0184089" rpy="0 0 0"/>
+      <mass value="0.103"/>
+      <inertia ixx="4.08002e-05" ixy="-1.97819e-05" ixz="-4.03016e-08" iyy="0.000147318" iyz="8.97326e-09" izz="0.000142487"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_3 -->
+    <visual>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215_03a_v1_3_material">
+        <color rgba="0.627451 0.627451 0.627451 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part upper_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30"/>
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl"/>
+      </geometry>
+      <material name="upper_arm_so101_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30"/>
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link lower_arm -->
+  <link name="lower_arm">
+    <inertial>
+      <origin xyz="-0.0980701 0.00324376 0.0182831" rpy="0 0 0"/>
+      <mass value="0.104"/>
+      <inertia ixx="2.87438e-05" ixy="7.41152e-06" ixz="1.26409e-06" iyy="0.000159844" iyz="-4.90188e-08" izz="0.00014529"/>
+    </inertial>
+    <!-- Part under_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31"/>
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl"/>
+      </geometry>
+      <material name="under_arm_so101_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31"/>
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_wrist_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -2.56146e-31"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl"/>
+      </geometry>
+      <material name="motor_holder_so101_wrist_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -2.56146e-31"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1_4 -->
+    <visual>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215_03a_v1_4_material">
+        <color rgba="0.627451 0.627451 0.627451 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link wrist -->
+  <link name="wrist">
+    <inertial>
+      <origin xyz="-0.000103312 -0.0386143 0.0281156" rpy="0 0 0"/>
+      <mass value="0.079"/>
+      <inertia ixx="3.68263e-05" ixy="1.7893e-08" ixz="-5.28128e-08" iyy="2.5391e-05" iyz="3.6412e-06" izz="2.1e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_no_horn_v1 -->
+    <visual>
+      <origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl"/>
+      </geometry>
+      <material name="sts3215_03a_no_horn_v1_material">
+        <color rgba="0.627451 0.627451 0.627451 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_pitch_so101_v2 -->
+    <visual>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl"/>
+      </geometry>
+      <material name="wrist_roll_pitch_so101_v2_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper -->
+  <link name="gripper">
+    <inertial>
+      <origin xyz="0.000213627 0.000245138 -0.025187" rpy="0 0 0"/>
+      <mass value="0.087"/>
+      <inertia ixx="2.75087e-05" ixy="-3.35241e-07" ixz="-5.7352e-06" iyy="4.33657e-05" iyz="-5.17847e-08" izz="3.45059e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_5 -->
+    <visual>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215_03a_v1_5_material">
+        <color rgba="0.627451 0.627451 0.627451 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_follower_so101_v1 -->
+    <visual>
+      <origin xyz="0 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+      <material name="wrist_roll_follower_so101_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Frame gripperframe (dummy link + fixed joint) -->
+  <link name="gripperframe">
+    <origin xyz="0 0 0" rpy="0 -0 0"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1e-9"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <joint name="gripperframe_frame" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-0 1.5708 0"/>
+    <parent link="gripper"/>
+    <child link="gripperframe"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="moving_jaw_so101_v1">
+    <inertial>
+      <origin xyz="-0.00157495 -0.0300244 0.0192755" rpy="0 0 0"/>
+      <mass value="0.012"/>
+      <inertia ixx="6.61427e-06" ixy="-3.19807e-07" ixz="-5.90717e-09" iyy="1.89032e-06" iyz="-1.09945e-07" izz="5.28738e-06"/>
+    </inertial>
+    <!-- Part moving_jaw_so101_v1 -->
+    <visual>
+      <origin xyz="-5.55112e-17 0 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24"/>
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl"/>
+      </geometry>
+      <material name="moving_jaw_so101_v1_material">
+        <color rgba="0.964706 0.964706 0.952941 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-5.55112e-17 0 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24"/>
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper to moving_jaw_so101_v1 -->
+  <joint name="6" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -5.24284e-08 -1.41553e-15"/>
+    <parent link="gripper"/>
+    <child link="moving_jaw_so101_v1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
+  </joint>
+  <!-- Joint from wrist to gripper -->
+  <joint name="5" type="revolute">
+    <origin xyz="2.77556e-16 -0.0611 0.0181" rpy="1.5708 0.0486795 3.14159"/>
+    <parent link="wrist"/>
+    <child link="gripper"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.74385" upper="2.84121"/>
+  </joint>
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="4" type="revolute">
+    <origin xyz="-0.1349 0.0052 8.44651e-17" rpy="4.02456e-15 8.67362e-16 -1.5708"/>
+    <parent link="lower_arm"/>
+    <child link="wrist"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
+  </joint>
+  <!-- Joint from upper_arm to lower_arm -->
+  <joint name="3" type="revolute">
+    <origin xyz="-0.11257 -0.028 2.09886e-16" rpy="-3.63608e-16 8.74301e-16 1.5708"/>
+    <parent link="upper_arm"/>
+    <child link="lower_arm"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.74533" upper="1.5708"/>
+  </joint>
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="2" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 -1.5708 0"/>
+    <parent link="shoulder"/>
+    <child link="upper_arm"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.74533" upper="1.74533"/>
+  </joint>
+  <!-- Joint from base to shoulder -->
+  <joint name="1" type="revolute">
+    <origin xyz="-0.124202 -0.168068 0.0948817" rpy="3.14159 4.18253e-17 -3.14159"/>
+    <parent link="base"/>
+    <child link="shoulder"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
+  </joint>
+</robot>

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+ self.__BUILD_MANIFEST=function(e,r,t){return{__rewrites:{afterFiles:[],beforeFiles:[],fallback:[]},__routerFilterStatic:{numItems:2,errorRate:1e-4,numBits:39,numHashes:14,bitArray:[0,1,1,0,r,e,e,r,r,e,e,r,e,e,e,r,r,e,e,e,e,r,e,r,r,r,r,e,e,e,r,e,r,e,r,e,e,e,r]},__routerFilterDynamic:{numItems:r,errorRate:1e-4,numBits:r,numHashes:null,bitArray:[]},"/_error":["static/chunks/pages/_error-cc3f077a18ea1793.js"],sortedPages:["/_app","/_error"]}}(1,0,1e-4),self.__BUILD_MANIFEST_CB&&self.__BUILD_MANIFEST_CB();

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1	+ self.__SSG_MANIFEST=new Set([]);self.__SSG_MANIFEST_CB&&self.__SSG_MANIFEST_CB()

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-<!doctype html>
-<html>
-	<head>
-		<meta charset="utf-8" />
-		<meta name="viewport" content="width=device-width" />
-		<title>My static Space</title>
-		<link rel="stylesheet" href="style.css" />
-	</head>
-	<body>
-		<div class="card">
-			<h1>Welcome to your static Space!</h1>
-			<p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
-			<p>
-				Also don't forget to check the
-				<a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
-			</p>
-		</div>
-	</body>
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1	+ <!DOCTYPE html><html lang="en"><head><meta charSet="utf-8"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="preload" href="/_next/static/media/e4af272ccee01ff0-s.p.woff2" as="font" crossorigin="" type="font/woff2"/><link rel="stylesheet" href="/_next/static/css/2e82de4fb0b28870.css" data-precedence="next"/><link rel="preload" as="script" fetchPriority="low" href="/_next/static/chunks/webpack-9682978e3e09731c.js"/><script src="/_next/static/chunks/4bd1b696-7e8243be45abfec2.js" async=""></script><script src="/_next/static/chunks/684-4ce5e6d50b92cbef.js" async=""></script><script src="/_next/static/chunks/main-app-f27e1f97d10457bf.js" async=""></script><script src="/_next/static/chunks/874-d5b9b203af7637c3.js" async=""></script><script src="/_next/static/chunks/app/layout-557283093bad1bf7.js" async=""></script><script src="/_next/static/chunks/b536a0f1-8e928607e65d05e8.js" async=""></script><script src="/_next/static/chunks/bd904a5c-a365b175d1933289.js" async=""></script><script src="/_next/static/chunks/ba12c10f-1bf210e1db10c544.js" async=""></script><script src="/_next/static/chunks/1329d575-baf00f741997f8c1.js" async=""></script><script src="/_next/static/chunks/881-47c588f365fe1541.js" async=""></script><script src="/_next/static/chunks/app/page-d26a24c6810d0a4b.js" async=""></script><link rel="preload" href="https://buttons.github.io/buttons.js" as="script"/><meta name="next-size-adjust" content=""/><title>BamBot</title><meta name="description" content="Open source, low-cost AI robots 🤖"/><script>document.querySelectorAll('body link[rel="icon"], body link[rel="apple-touch-icon"]').forEach(el => document.head.appendChild(el))</script><script src="/_next/static/chunks/polyfills-42372ed130431b0a.js" noModule=""></script></head><body class="__className_e8ce0c bg-black text-white w-screen h-screen"><header class="text-white w-full p-5 sm:px-10 flex justify-between items-center fixed top-0 left-0 right-0 z-50"><a href="/"><div class="text-2xl font-bold e">Dora-BamBot</div><div class="text-xl e text-red-500">This browser is not supported! Please use Chrome.</div></a><div class="text-2xl e"><a href="https://shop.wowrobo.com/products/so-arm101-diy-kit-assembled-version-1?sca_ref=8999006.W1G76EYstQkFoP"><a href="https://shop.wowrobo.com/products/so-arm101-diy-kit-assembled-version-1?sca_ref=8999006.W1G76EYstQkFoP">Buy assembled SO101 with 5% Discount on WowRobo with the code:<!-- --> <span class="text-red-500"> 1ms.ai</span></a></a></div><a class="github-button" href="https://github.com/dora-bambot/dora-bambot.github.io" data-size="large" data-show-count="true" aria-label="Star timqian/bambot on GitHub">Star</a></header><div style="position:relative;width:100%;height:100%;overflow:hidden;pointer-events:auto"><div style="width:100%;height:100%"><canvas style="display:block"></canvas></div></div><div class="absolute bottom-5 left-5 bg-zinc-900 bg-opacity-80 text-white p-4 rounded-lg max-h-[90vh] overflow-y-auto z-50 text-sm"><h3 class="mt-0 mb-4 border-b border-zinc-600 pb-1 font-bold text-base flex justify-between 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