| { | |
| "format": "physical_ai_studio_environment", | |
| "version": "1.0", | |
| "name": "So101", | |
| "robots": [ | |
| { | |
| "name": "SO101 Follower", | |
| "type": "SO101_Follower", | |
| "calibration": { | |
| "elbow_flex": { | |
| "id": 3, | |
| "drive_mode": 0, | |
| "homing_offset": 1149, | |
| "range_min": 851, | |
| "range_max": 3074 | |
| }, | |
| "gripper": { | |
| "id": 6, | |
| "drive_mode": 0, | |
| "homing_offset": 1088, | |
| "range_min": 1938, | |
| "range_max": 3416 | |
| }, | |
| "shoulder_lift": { | |
| "id": 2, | |
| "drive_mode": 0, | |
| "homing_offset": 263, | |
| "range_min": 821, | |
| "range_max": 3195 | |
| }, | |
| "shoulder_pan": { | |
| "id": 1, | |
| "drive_mode": 0, | |
| "homing_offset": 135, | |
| "range_min": 732, | |
| "range_max": 3454 | |
| }, | |
| "wrist_flex": { | |
| "id": 4, | |
| "drive_mode": 0, | |
| "homing_offset": -1606, | |
| "range_min": 860, | |
| "range_max": 3188 | |
| }, | |
| "wrist_roll": { | |
| "id": 5, | |
| "drive_mode": 0, | |
| "homing_offset": 612, | |
| "range_min": 124, | |
| "range_max": 3956 | |
| } | |
| }, | |
| "teleoperator": { | |
| "type": "robot", | |
| "name": "SO101 Leader", | |
| "robot_type": "SO101_Leader" | |
| } | |
| } | |
| ], | |
| "cameras": [ | |
| { | |
| "name": "Gripper", | |
| "driver": "usb_camera", | |
| "hardware_name": "Innomaker-U20CAM-1080p-S1: Inno", | |
| "width": 640, | |
| "height": 480, | |
| "fps": 30 | |
| }, | |
| { | |
| "name": "Overview", | |
| "driver": "usb_camera", | |
| "hardware_name": "Innomaker-U20CAM-1080p-S1: Inno", | |
| "width": 640, | |
| "height": 480, | |
| "fps": 30 | |
| } | |
| ] | |
| } |