Upload 21 files

.gitattributes

@@ -57,3 +57,19 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/base_motor_holder_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/base_so101_v2.stl filter=lfs diff=lfs merge=lfs -text
+assets/motor_holder_so101_base_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/motor_holder_so101_wrist_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/moving_jaw_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/rotation_pitch_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/sts3215_03a_no_horn_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/sts3215_03a_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/under_arm_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/upper_arm_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/wrist_roll_follower_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/wrist_roll_pitch_so101_v2.stl filter=lfs diff=lfs merge=lfs -text
+bambot_assets/Bambot_Body.stl filter=lfs diff=lfs merge=lfs -text
+bambot_assets/Bambot_v0_base.stl filter=lfs diff=lfs merge=lfs -text
+bambot_assets/BambotWheel.stl filter=lfs diff=lfs merge=lfs -text
+bambot_assets/Base_Motor.stl filter=lfs diff=lfs merge=lfs -text

assets/base_motor_holder_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd2f241037ea377af1191fffe0dd9d9006beea6dcc48543660ed41647072424
+size 1877084

assets/base_so101_v2.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb12b7026575e1f70ccc7240051f9d943553bf34e5128537de6cd86fae33924d
+size 471584

assets/motor_holder_so101_base_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31242ae6fb59d8b15c66617b88ad8e9bded62d57c35d11c0c43a70d2f4caa95b
+size 1129384

assets/motor_holder_so101_wrist_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887f92e6013cb64ea3a1ab8675e92da1e0beacfd5e001f972523540545e08011
+size 1052184

assets/moving_jaw_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785a9dded2f474bc1d869e0d3dae398a3dcd9c0c345640040472210d2861fa9d
+size 1413584

assets/rotation_pitch_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be900cc2a2bf718102841ef82ef8d2873842427648092c8ed2ca1e2ef4ffa34
+size 883684

assets/sts3215_03a_no_horn_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ef3781b752e4065891aea855e34dc161a38a549549cd0970cedd07eae6f887
+size 865884

assets/sts3215_03a_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37c871fb502483ab96c256baf457d36f2e97afc9205313d9c5ab275ef941cd0
+size 954084

assets/under_arm_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d01d1f2de365651dcad9d6669e94ff87ff7652b5bb2d10752a66a456a86dbc71
+size 1975884

assets/upper_arm_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475056e03a17e71919b82fd88ab9a0b898ab50164f2a7943652a6b2941bb2d4f
+size 1303484

assets/wrist_roll_follower_so101_v1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b17b410a12d64ec39554abc3e8054d8a97384b2dc4a8d95a5ecb2a93670f5f4
+size 1439884

assets/wrist_roll_pitch_so101_v2.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7ec5525b4d8b9e397a30ab4bb0037156a5d5f38a4adf2c7d943d6c56eda5ae
+size 2699784

bambot_assets/BambotWheel.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8e0e2b16340d3fd6738ae0077c1363c719b71ed7a54129103dddbd058b3c50
+size 15712284

bambot_assets/Bambot_Body.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021d27121f1beadd52b315d3209a444316fd5ad38044374e41fc8752984312cd
+size 13771284

bambot_assets/Bambot_v0_base.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80cb76e6648959130ae38e154e8e8c6c1f5b53a1a368c1f6e8c726ac7f8b476
+size 10238184

bambot_assets/Base_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac4485d448eca418d2a93df3f78f449bd59b21ec1af2a579171819fd44ea576
+size 154284

bambot_v0.urdf

@@ -0,0 +1,905 @@
+<?xml version="1.0"?>
+<robot name="bambot">
+
+  <material name="green">
+    <color rgba="0.06 0.4 0.1 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.06 0.1 0.1 1.0" />
+  </material>
+
+  <!-- <link name="world" />
+  <joint name="world_to_base" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+    <origin xyz="0.1 0.168068 -0.0300817" rpy="0 0 0" />
+  </joint> -->
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Bambot_Body.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <origin xyz="-0.5 0 0.4" rpy="0 0 0" />
+      <material name="green" />
+    </visual>
+  </link>
+
+
+  <!-- Right Arm Components -->
+  <!-- Right Arm Joints -->
+  <joint name="R_to_base" type="fixed">
+    <parent link="base_link" />
+    <child link="R_base" />
+    <origin xyz="-0.005 -0.585 0.67" rpy="0 3.14158 3.14159" />
+  </joint>
+
+  <!-- Link base -->
+  <link name="R_base">
+    <inertial>
+      <origin xyz="-0.14932 -0.16812 0.065966" rpy="0 0 0" />
+      <mass value="0.147" />
+      <inertia ixx="0.000114686" ixy="-4.59787e-07" ixz="4.97151e-06" iyy="0.000136117"
+        iyz="9.75275e-08" izz="0.000130364" />
+    </inertial>
+    <!-- Part base_motor_holder_so101_v1 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part base_so101_v2 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
+    <visual>
+      <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>
+      <material name="green" />
+    </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="R_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="R_baseframe_frame" type="fixed">
+    <origin xyz="-0.163038 -0.168068 0.0324817" rpy="1.6144e-15 7.84513e-18 1.33799e-15" />
+    <parent link="R_base" />
+    <child link="R_baseframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link shoulder -->
+  <link name="R_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="black" />
+    </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="green" />
+    </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="green" />
+    </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="R_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="black" />
+    </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="green" />
+    </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="R_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="green" />
+    </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="green" />
+    </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="black" />
+    </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="R_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="black" />
+    </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="green" />
+    </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="R_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="black" />
+    </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="green" />
+    </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="R_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="R_gripperframe_frame" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-0 1.5708 0" />
+    <parent link="R_gripper" />
+    <child link="R_gripperframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="R_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="green" />
+    </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="R_Jaw" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 3.315 0" />
+    <parent link="R_gripper" />
+    <child link="R_moving_jaw_so101_v1" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="3.14" upper="4.88692" />
+  </joint>
+  <!-- Joint from wrist to gripper -->
+  <joint name="R_Wrist_Roll" type="revolute">
+    <origin xyz="2.77556e-16 -0.0611 0.0181" rpy="1.5708 3.1902695 3.14159" />
+    <parent link="R_wrist" />
+    <child link="R_gripper" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="0.39774" upper="5.9828" />
+  </joint>
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="R_Wrist_Pitch" type="revolute">
+    <origin xyz="-0.1349 0.0052 8.44651e-17" rpy="0 0 1.57079" />
+    <parent link="R_lower_arm" />
+    <child link="R_wrist" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.48353" upper="4.79965" />
+  </joint>
+  <!-- Joint from upper_arm to lower_arm -->
+  <joint name="R_Elbow" type="revolute">
+    <origin xyz="-0.11257 -0.028 2.09886e-16" rpy="0 0 4.71239" />
+    <parent link="R_upper_arm" />
+    <child link="R_lower_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39626" upper="4.71239" />
+  </joint>
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="R_Pitch" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5692 0" />
+    <parent link="R_shoulder" />
+    <child link="R_upper_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39467" upper="4.88692" />
+  </joint>
+  <!-- Joint from base to shoulder -->
+  <joint name="R_Rotation" type="revolute">
+    <origin xyz="-0.124202 -0.168068 0.0948817" rpy="3.14159 0 0" />
+    <parent link="R_base" />
+    <child link="R_shoulder" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.22014" upper="5.05986" />
+  </joint>
+
+
+  <!-- Left Arm Components -->
+
+  <!-- Left Arm Joints -->
+     <joint name="L_to_base" type="fixed">
+    <parent link="base_link" />
+    <child link="L_base" />
+    <origin xyz="-0.01 -0.235 0.67" rpy="0 3.14158 3.14159" />
+  </joint>
+  <!-- Link base -->
+  <link name="L_base">
+    <inertial>
+      <origin xyz="-0.14932 -0.16812 0.065966" rpy="0 0 0" />
+      <mass value="0.147" />
+      <inertia ixx="0.000114686" ixy="-4.59787e-07" ixz="4.97151e-06" iyy="0.000136117"
+        iyz="9.75275e-08" izz="0.000130364" />
+    </inertial>
+    <!-- Part base_motor_holder_so101_v1 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part base_so101_v2 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
+    <visual>
+      <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>
+      <material name="green" />
+    </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="L_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="L_base" />
+    <child link="L_baseframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link shoulder -->
+  <link name="L_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="black" />
+    </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="green" />
+    </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="green" />
+    </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="L_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="black" />
+    </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="green" />
+    </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="L_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="green" />
+    </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="green" />
+    </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="black" />
+    </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="L_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="black" />
+    </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="green" />
+    </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="L_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="black" />
+    </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="green" />
+    </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="L_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="L_gripperframe_frame" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-0 1.5708 0" />
+    <parent link="L_gripper" />
+    <child link="L_gripperframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="L_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="green" />
+    </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="L_Jaw" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 3.315 0" />
+    <parent link="L_gripper" />
+    <child link="L_moving_jaw_so101_v1" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="3.14" upper="4.88692" />
+  </joint>
+  <!-- Joint from wrist to gripper -->
+  <joint name="L_Wrist_Roll" type="revolute">
+    <origin xyz="2.77556e-16 -0.0611 0.0181" rpy="1.5708 3.1902695 3.14159" />
+    <parent link="L_wrist" />
+    <child link="L_gripper" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="0.39774" upper="5.9828" />
+  </joint>
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="L_Wrist_Pitch" type="revolute">
+    <origin xyz="-0.1349 0.0052 8.44651e-17" rpy="0 0 1.57079" />
+    <parent link="L_lower_arm" />
+    <child link="L_wrist" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.48353" upper="4.79965" />
+  </joint>
+  <!-- Joint from upper_arm to lower_arm -->
+  <joint name="L_Elbow" type="revolute">
+    <origin xyz="-0.11257 -0.028 2.09886e-16" rpy="0 0 4.71239" />
+    <parent link="L_upper_arm" />
+    <child link="L_lower_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39626" upper="4.71239" />
+  </joint>
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="L_Pitch" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5692 0" />
+    <parent link="L_shoulder" />
+    <child link="L_upper_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39467" upper="4.88692" />
+  </joint>
+  <!-- Joint from base to shoulder -->
+  <joint name="L_Rotation" type="revolute">
+    <origin xyz="-0.124202 -0.168068 0.0948817" rpy="3.14159 0 0" />
+    <parent link="L_base" />
+    <child link="L_shoulder" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.22014" upper="5.05986" />
+  </joint> 
+
+
+  <!--Wheels-->
+  <link name="left_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="left_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="left_motor" />
+    <origin xyz="-0.1 0.0 -0.03" rpy="0 1.5708 -2.0944" /> <!-- 120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="right_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="right_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="right_motor" />
+    <origin xyz="-0.1 -0.48 -0.03" rpy="0 1.5708 2.0944" /> <!-- -120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="back_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="back_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="back_motor" />
+    <origin xyz="-0.52 -0.25 -0.03" rpy="0 1.5708 0" /> <!-- 0 degrees (rear) -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="left_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <link name="right_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <link name="back_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+
+  <joint name="left_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="left_wheel" />
+    <origin xyz="-0.1 0.0 -0.03" rpy="0 1.5708 -2.0944" /> <!-- 120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="back_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="back_wheel" />
+    <origin xyz="-0.52 -0.25 -0.03" rpy="0 1.5708 0" /> <!-- 0 degrees (rear) -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="right_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="right_wheel" />
+    <origin xyz="-0.1 -0.48 -0.03" rpy="0 1.5708 2.0944" /> <!-- -120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+</robot>

bambot_v0_base.urdf

@@ -0,0 +1,117 @@
+<?xml version="1.0"?>
+<robot name="bambot">
+
+  <material name="green">
+    <color rgba="0.06 0.4 0.1 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.06 0.1 0.1 1.0" />
+  </material>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Bambot_v0_base.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <origin xyz="-0.58 -0.255 0.168" rpy="0 0 0" />
+      <material name="green" />
+    </visual>
+  </link>
+
+  <link name="left_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="left_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="left_motor" />
+    <origin xyz="-0.1 0.0 -0.03" rpy="0 1.5708 -2.0944" /> <!-- 120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="right_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="right_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="right_motor" />
+    <origin xyz="-0.1 -0.48 -0.03" rpy="0 1.5708 2.0944" /> <!-- -120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="back_motor">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl" />
+      </geometry>
+      <origin xyz="0 -0.04 0.1" rpy="3.14159 0 0" />
+      <material name="black" />
+    </visual>
+  </link>
+  <joint name="back_motor" type="fixed">
+    <parent link="base_link" />
+    <child link="back_motor" />
+    <origin xyz="-0.52 -0.25 -0.03" rpy="0 1.5708 0" /> <!-- 0 degrees (rear) -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link name="left_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <link name="right_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <link name="back_wheel">
+    <visual>
+      <geometry>
+        <mesh filename="bambot_assets/BambotWheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+
+  <joint name="left_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="left_wheel" />
+    <origin xyz="-0.1 0.0 -0.03" rpy="0 1.5708 -2.0944" /> <!-- 120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="back_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="back_wheel" />
+    <origin xyz="-0.52 -0.25 -0.03" rpy="0 1.5708 0" /> <!-- 0 degrees (rear) -->
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="right_wheel" type="continuous">
+    <parent link="base_link" />
+    <child link="right_wheel" />
+    <origin xyz="-0.1 -0.48 -0.03" rpy="0 1.5708 2.0944" /> <!-- -120 degrees -->
+    <axis xyz="0 0 1" />
+  </joint>
+</robot>

so101.urdf

@@ -0,0 +1,404 @@
+<?xml version="1.0"?>
+
+<!-- Originally Generated using onshape-to-robot -->
+<!-- Onshape
+https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
+<robot name="so100">
+  <!-- Materials -->
+  <material name="green">
+    <color rgba="0.06 0.4 0.1 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.1 0.1 0.1 1.0" />
+  </material>
+
+  <!-- World link -->
+  <link name="world" />
+
+  <!-- Joint from world to base -->
+  <joint name="world_to_base" type="fixed">
+    <parent link="world" />
+    <child link="base" />
+    <origin xyz="0.163038 0.168068 -0.0300817" rpy="0 0 0" />
+  </joint>
+
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
+      <origin xyz="-0.14932 -0.16812 0.065966" rpy="0 0 0" />
+      <mass value="0.147" />
+      <inertia ixx="0.000114686" ixy="-4.59787e-07" ixz="4.97151e-06" iyy="0.000136117"
+        iyz="9.75275e-08" izz="0.000130364" />
+    </inertial>
+    <!-- Part base_motor_holder_so101_v1 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part base_so101_v2 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
+    <visual>
+      <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>
+      <material name="green" />
+    </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="black" />
+    </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="green" />
+    </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="green" />
+    </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="black" />
+    </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="green" />
+    </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="green" />
+    </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="green" />
+    </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="black" />
+    </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="black" />
+    </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="green" />
+    </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="black" />
+    </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="green" />
+    </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="green" />
+    </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="Jaw" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 3.315 0" />
+    <parent link="gripper" />
+    <child link="moving_jaw_so101_v1" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="3.14" upper="4.88692" />
+  </joint>
+  <!-- Joint from wrist to gripper -->
+  <joint name="Wrist_Roll" type="revolute">
+    <origin xyz="2.77556e-16 -0.0611 0.0181" rpy="1.5708 3.1902695 3.14159" />
+    <parent link="wrist" />
+    <child link="gripper" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="0.39774" upper="5.9828" />
+  </joint>
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="Wrist_Pitch" type="revolute">
+    <origin xyz="-0.1349 0.0052 8.44651e-17" rpy="0 0 1.57079" />
+    <parent link="lower_arm" />
+    <child link="wrist" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.48353" upper="4.79965" />
+  </joint>
+  <!-- Joint from upper_arm to lower_arm -->
+  <joint name="Elbow" type="revolute">
+    <origin xyz="-0.11257 -0.028 2.09886e-16" rpy="0 0 4.71239" />
+    <parent link="upper_arm" />
+    <child link="lower_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39626" upper="4.71239" />
+  </joint>
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="Pitch" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5692 0" />
+    <parent link="shoulder" />
+    <child link="upper_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39467" upper="4.88692" />
+  </joint>
+  <!-- Joint from base to shoulder -->
+  <joint name="Rotation" type="revolute">
+    <origin xyz="-0.124202 -0.168068 0.0948817" rpy="3.14159 0 0" />
+    <parent link="base" />
+    <child link="shoulder" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.22014" upper="5.05986" />
+  </joint>
+</robot>

sts3215.urdf

@@ -0,0 +1,43 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sts3215">
+  <material name="black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.06 0.4 0.1 1.0"/>
+  </material>
+
+  <link name="Base">
+    <visual>
+      <origin xyz="0 0 -0.01" rpy="-1.57079 0 0"/>
+      <geometry>
+        <mesh filename="bambot_assets/Base_Motor.stl"/>
+        
+      </geometry>
+      <material name="black"/>
+    </visual>
+  </link>
+
+  <link name="Rotation_Pitch">
+    <inertial>
+      <mass value="0.119226"/>
+      <origin xyz="-9.07886e-05 0.0590972 0.01089" rpy="0 0 0"/>
+      <inertia ixx="5.94278e-05" ixy="0" ixz="0" iyy="5.89975e-05" iyz="0" izz="3.13712e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <box size="0.07 0.005 0.021"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+
+  <joint name="Rotation" type="revolute">
+    <parent link="Base"/>
+    <child link="Rotation_Pitch"/>
+    <origin xyz="0 0.065 0.036" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14158" upper="3.14158" effort="35" velocity="1"/>
+  </joint>
+</robot>