{
  "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
    }
  ]
}