FLUX 3 Action SO-101 MuJoCo demo

.gitattributes

@@ -33,3 +33,17 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* 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_camera_mount_so101_v1.stl filter=lfs diff=lfs merge=lfs -text
+assets/wrist_camera_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

README.md

@@ -1,13 +1,19 @@
 ---
-title: Flux 3 Action So101 Sim
-emoji: 🏆
-colorFrom: pink
-colorTo: pink
+title: FLUX 3 Action SO-101 Sim
+emoji: 🦾
+colorFrom: yellow
+colorTo: gray
 sdk: gradio
 sdk_version: 6.28.0
-python_version: '3.12'
 app_file: app.py
-pinned: false
+python_version: "3.12"
+short_description: FLUX 3 Action drives a simulated SO-101 arm in MuJoCo
+startup_duration_timeout: 1h
+models:
+  - black-forest-labs/flux-3-action-so101
+  - black-forest-labs/flux-3-action-base
 ---
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+Closed-loop demo of [FLUX 3 Action SO-101](https://huggingface.co/black-forest-labs/flux-3-action-so101) controlling a simulated SO-101 arm in MuJoCo.
+
+Robot model and meshes: [TheRobotStudio/SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) (`so101_new_calib_camera.xml`, Apache-2.0).

app.py

@@ -0,0 +1,168 @@
+import importlib.util
+import os
+import subprocess
+import sys
+
+os.environ.setdefault("MUJOCO_GL", "osmesa")
+os.environ.setdefault("PYOPENGL_PLATFORM", "osmesa")
+os.environ.setdefault("PYTORCH_CUDA_ALLOC_CONF", "expandable_segments:True")
+
+import spaces
+import torch
+
+
+def _ensure_natten():
+    if importlib.util.find_spec("natten") is not None:
+        return
+    base = torch.__version__.split("+")[0]
+    tag = "torch" + "".join(base.split(".")[:3]) + "cu" + (torch.version.cuda or "12.8").replace(".", "")
+    subprocess.check_call(
+        [sys.executable, "-m", "pip", "install", f"natten==0.21.6+{tag}", "-f", "https://whl.natten.org/"]
+    )
+
+
+_ensure_natten()
+
+import tempfile
+import time
+from collections import deque
+
+import gradio as gr
+import imageio.v2 as imageio
+import numpy as np
+from PIL import Image, ImageDraw
+
+import sim
+from flux_action.inference.so101 import load_policy
+
+REPO = "black-forest-labs/flux-3-action-so101"
+N_OBS = 8
+N_EXEC = 32
+CAM_W, CAM_H = 320, 240
+
+policy = load_policy(REPO).to("cuda")
+
+
+@spaces.GPU(duration=40)
+def infer_chunk(scene_frames, wrist_frames, states, commands, prompt):
+    device = "cuda"
+    batch = {
+        "images.scene": torch.from_numpy(scene_frames).permute(0, 3, 1, 2)[None].to(device),
+        "images.wrist": torch.from_numpy(wrist_frames).permute(0, 3, 1, 2)[None].to(device),
+        "state": torch.from_numpy(states).float()[None].to(device),
+        "command_history": torch.from_numpy(commands).float()[None].to(device),
+        "task": [prompt],
+    }
+    with torch.inference_mode():
+        targets = policy.predict_normalized_targets(batch)
+        actions = policy.actions_from_targets(targets, batch["command_history"][:, -1])
+    return actions[0].float().cpu().numpy()
+
+
+def compose(big, scene_img, wrist_img, caption):
+    h = big.shape[0]
+    side = h // 2
+    s = np.array(Image.fromarray(scene_img).resize((int(side * 4 / 3), side)))
+    w = np.array(Image.fromarray(wrist_img).resize((int(side * 4 / 3), side)))
+    frame = np.concatenate([big, np.concatenate([s, w], 0)], 1)
+    im = Image.fromarray(frame)
+    d = ImageDraw.Draw(im)
+    d.rectangle([0, h - 26, big.shape[1], h], fill=(0, 0, 0))
+    d.text((8, h - 20), caption, fill=(255, 255, 255))
+    d.text((big.shape[1] + 6, 4), "scene cam (model input)", fill=(255, 255, 255))
+    d.text((big.shape[1] + 6, side + 4), "wrist cam (model input)", fill=(255, 255, 255))
+    return np.array(im)
+
+
+def rollout(prompt, scene, n_chunks, seed):
+    prompt = (prompt or "").strip()
+    if not prompt:
+        raise gr.Error("Enter a task instruction.")
+    env = sim.Sim(scene=scene, width=CAM_W, height=CAM_H, seed=int(seed))
+    history = deque(maxlen=N_OBS)
+    last_command = None
+    queue = deque()
+    frames = []
+    total_ticks = int(n_chunks) * N_EXEC
+    t0 = time.perf_counter()
+    gpu_time = 0.0
+    log = []
+    tmp = tempfile.NamedTemporaryFile(suffix=".mp4", delete=False).name
+    for tick in range(total_ticks):
+        scene_img = env.render("scene")
+        wrist_img = env.render("wrist")
+        state = sim.lerobot_to_model(env.state_deg())
+        command = state if last_command is None else last_command
+        entry = (scene_img, wrist_img, state, command)
+        for _ in range(N_OBS if not history else 1):
+            history.append(entry)
+        if not queue:
+            g0 = time.perf_counter()
+            chunk = infer_chunk(
+                np.stack([h[0] for h in history]),
+                np.stack([h[1] for h in history]),
+                np.stack([h[2] for h in history]).astype(np.float32),
+                np.stack([h[3] for h in history]).astype(np.float32),
+                prompt,
+            )
+            gpu_time += time.perf_counter() - g0
+            queue.extend(chunk[:N_EXEC])
+            log.append(f"chunk {len(log) + 1}: {time.perf_counter() - g0:.1f}s")
+        action = np.asarray(queue.popleft(), dtype=np.float64)
+        last_command = action
+        env.step(sim.model_to_lerobot(action))
+        big = env.render_big()
+        frame = compose(big, scene_img, wrist_img, f"{prompt}   t={tick / sim.FPS:4.1f}s")
+        frames.append(frame)
+        if tick % 8 == 0:
+            yield frame, None, "\n".join(log)
+    env.close()
+    imageio.mimsave(tmp, frames, fps=sim.FPS, codec="libx264", quality=7, macro_block_size=8)
+    log.append(f"total {time.perf_counter() - t0:.1f}s, model {gpu_time:.1f}s")
+    yield frames[-1], tmp, "\n".join(log)
+
+
+def preview(scene, seed):
+    env = sim.Sim(scene=scene, width=CAM_W, height=CAM_H, seed=int(seed))
+    out = compose(env.render_big(), env.render("scene"), env.render("wrist"), "initial state")
+    env.close()
+    return out
+
+
+with gr.Blocks(title="FLUX 3 Action SO-101 in MuJoCo") as demo:
+    gr.Markdown(
+        "# FLUX 3 Action · SO-101 in simulation\n"
+        "[black-forest-labs/flux-3-action-so101](https://huggingface.co/black-forest-labs/flux-3-action-so101) "
+        "drives a simulated SO-101 arm in MuJoCo, in closed loop. Each step renders the scene and wrist "
+        "cameras, the policy predicts 42 joint commands from the last 8 observations and your instruction, "
+        "the first 32 run at 30 Hz, then it replans. The policy was trained only on real SO-100/101 "
+        "teleoperation data, so the simulator is out of its training distribution."
+    )
+    with gr.Row():
+        with gr.Column(scale=1):
+            prompt = gr.Textbox(label="Task instruction", value="Pick up the red cube and put it in the gray container")
+            scene = gr.Dropdown(list(sim.SCENES), value="Cubes and tray", label="Scene")
+            n_chunks = gr.Slider(2, 12, value=6, step=1, label="Chunks (32 steps each, about 1.07 s)")
+            seed = gr.Number(value=0, precision=0, label="Object placement seed")
+            run = gr.Button("Run rollout", variant="primary")
+            log = gr.Textbox(label="Timing", lines=6)
+        with gr.Column(scale=2):
+            live = gr.Image(label="Live", value=None, interactive=False)
+            video = gr.Video(label="Rollout", autoplay=True)
+    gr.Examples(
+        [
+            ["Pick up the red cube and put it in the gray container", "Cubes and tray"],
+            ["Put the blue cube in the box", "Cubes and tray"],
+            ["Pick up the yellow block", "Cubes and tray"],
+            ["Grab the red cube and place it in the container", "Single cube"],
+            ["Stack the orange cube on the green cube", "Blocks without tray"],
+        ],
+        [prompt, scene],
+        cache_examples=False,
+    )
+    run.click(rollout, [prompt, scene, n_chunks, seed], [live, video, log])
+    scene.change(preview, [scene, seed], live)
+    seed.change(preview, [scene, seed], live)
+    demo.load(preview, [scene, seed], live)
+
+demo.queue(default_concurrency_limit=2).launch()

assets/base_motor_holder_so101_v1.stl

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+size 1877084

assets/base_so101_v2.stl

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assets/motor_holder_so101_base_v1.stl

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assets/motor_holder_so101_wrist_v1.stl

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assets/moving_jaw_so101_v1.stl

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assets/rotation_pitch_so101_v1.stl

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assets/sts3215_03a_no_horn_v1.stl

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assets/sts3215_03a_v1.stl

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assets/under_arm_so101_v1.stl

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assets/upper_arm_so101_v1.stl

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assets/wrist_camera_mount_so101_v1.stl

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assets/wrist_camera_so101_v1.stl

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+size 128934

assets/wrist_roll_follower_so101_v1.stl

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assets/wrist_roll_pitch_so101_v2.stl

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packages.txt

@@ -0,0 +1,2 @@
+libosmesa6
+libgl1

requirements.txt

@@ -0,0 +1,5 @@
+flux-action[encoders] @ git+https://github.com/black-forest-labs/flux-action@e2dd1d8dbc5977b54315d61f7548c63c043d6d4f
+mujoco
+PyOpenGL
+imageio[ffmpeg]
+numpy<2.3

sim.py

@@ -0,0 +1,219 @@
+import os
+from dataclasses import dataclass, field
+
+import mujoco
+import numpy as np
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+FPS = 30
+PHYSICS_DT = 1.0 / 600.0
+SUBSTEPS = int(round(1.0 / FPS / PHYSICS_DT))
+JOINTS = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
+GRIPPER_CLOSED = -0.17453
+GRIPPER_OPEN = 1.74533
+REST_DEG = np.array([0.0, -92.0, 88.0, 72.0, 0.0, 2.0])
+
+COLORS = {
+    "red": "0.80 0.12 0.10 1",
+    "blue": "0.10 0.25 0.75 1",
+    "green": "0.12 0.55 0.20 1",
+    "yellow": "0.95 0.78 0.10 1",
+    "white": "0.92 0.92 0.90 1",
+    "black": "0.08 0.08 0.08 1",
+    "orange": "0.95 0.45 0.08 1",
+}
+
+SCENES = {
+    "Cubes and tray": {
+        "objects": [
+            ("red", "cube", (0.22, 0.02), 0.0),
+            ("blue", "cube", (0.27, -0.08), 0.4),
+            ("yellow", "cube", (0.17, -0.12), 0.9),
+        ],
+        "tray": (0.16, 0.17),
+    },
+    "Single cube": {
+        "objects": [("red", "cube", (0.22, -0.04), 0.3)],
+        "tray": (0.16, 0.17),
+    },
+    "Blocks without tray": {
+        "objects": [
+            ("green", "cube", (0.22, 0.08), 0.2),
+            ("orange", "cube", (0.24, -0.06), 0.7),
+            ("white", "box", (0.17, 0.0), 0.0),
+        ],
+        "tray": None,
+    },
+}
+
+
+def _object_xml(i, color, kind, xy, yaw):
+    rgba = COLORS[color]
+    half = "0.015 0.015 0.015" if kind == "cube" else "0.02 0.03 0.015"
+    z = 0.0155
+    q = f"{np.cos(yaw / 2):.5f} 0 0 {np.sin(yaw / 2):.5f}"
+    return (
+        f'<body name="obj{i}" pos="{xy[0]} {xy[1]} {z}" quat="{q}">'
+        f'<freejoint name="obj{i}_free"/>'
+        f'<geom type="box" size="{half}" rgba="{rgba}" mass="0.02" friction="1.5 0.02 0.001" '
+        f'condim="4" solref="0.004 1" priority="1"/>'
+        f"</body>"
+    )
+
+
+def _tray_xml(xy):
+    x, y = xy
+    hx, hy, hz, t = 0.075, 0.06, 0.022, 0.004
+    rgba = "0.55 0.56 0.58 1"
+    parts = [
+        f'<geom type="box" pos="0 0 {t / 2}" size="{hx} {hy} {t / 2}" rgba="{rgba}"/>',
+        f'<geom type="box" pos="{hx - t / 2} 0 {hz}" size="{t / 2} {hy} {hz}" rgba="{rgba}"/>',
+        f'<geom type="box" pos="{-hx + t / 2} 0 {hz}" size="{t / 2} {hy} {hz}" rgba="{rgba}"/>',
+        f'<geom type="box" pos="0 {hy - t / 2} {hz}" size="{hx} {t / 2} {hz}" rgba="{rgba}"/>',
+        f'<geom type="box" pos="0 {-hy + t / 2} {hz}" size="{hx} {t / 2} {hz}" rgba="{rgba}"/>',
+    ]
+    return f'<body name="tray" pos="{x} {y} 0">' + "".join(parts) + "</body>"
+
+
+def scene_xml(scene):
+    spec = SCENES[scene]
+    objects = "".join(_object_xml(i, *o) for i, o in enumerate(spec["objects"]))
+    tray = _tray_xml(spec["tray"]) if spec["tray"] else ""
+    return f"""
+<mujoco model="so101_tabletop">
+  <include file="so101.xml"/>
+  <option timestep="{PHYSICS_DT}" cone="elliptic" impratio="10"/>
+  <visual>
+    <headlight diffuse="0.35 0.35 0.35" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <quality shadowsize="4096"/>
+    <global offwidth="640" offheight="480"/>
+    <map znear="0.005"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.85 0.86 0.88" rgb2="0.55 0.56 0.58" width="256" height="1536"/>
+    <texture name="cork" type="2d" builtin="flat" rgb1="0.80 0.66 0.48" mark="random" markrgb="0.70 0.55 0.38" random="0.12" width="512" height="512"/>
+    <material name="cork" texture="cork" texrepeat="4 4" reflectance="0.0"/>
+    <material name="desk" rgba="0.80 0.81 0.82 1"/>
+    <material name="wall" rgba="0.90 0.90 0.88 1"/>
+    <material name="white_part" rgba="0.93 0.93 0.91 1"/>
+  </asset>
+  <worldbody>
+    <light pos="0.3 -0.3 1.2" dir="-0.2 0.2 -1" directional="false" diffuse="0.6 0.6 0.6" castshadow="true"/>
+    <light pos="-0.4 0.4 1.0" dir="0.3 -0.3 -1" diffuse="0.3 0.3 0.3" castshadow="false"/>
+    <geom name="desk" type="box" pos="0.25 0 -0.012" size="0.7 0.7 0.004" material="desk"/>
+    <geom name="board" type="box" pos="0.22 0 -0.004" size="0.26 0.32 0.004" material="cork" friction="1 0.01 0.001"/>
+    <geom name="wall" type="box" pos="-0.35 0 0.4" size="0.01 1.2 0.5" material="wall" contype="0" conaffinity="0"/>
+    <geom name="wall2" type="box" pos="0.3 0.75 0.4" size="1.0 0.01 0.5" material="wall" contype="0" conaffinity="0"/>
+    <camera name="scene" pos="0.46 -0.24 0.34" mode="targetbody" target="scene_target" fovy="58"/>
+    <camera name="overview" pos="0.62 -0.42 0.45" mode="targetbody" target="scene_target" fovy="50"/>
+    <body name="scene_target" pos="0.14 0.03 0.05"/>
+    {objects}
+    {tray}
+  </worldbody>
+</mujoco>
+"""
+
+
+def build_model(scene):
+    xml = scene_xml(scene)
+    cwd = os.getcwd()
+    os.chdir(HERE)
+    try:
+        model = mujoco.MjModel.from_xml_string(xml)
+    finally:
+        os.chdir(cwd)
+    return model
+
+
+def deg_to_q(deg):
+    q = np.deg2rad(np.asarray(deg[:5], dtype=np.float64))
+    g = GRIPPER_CLOSED + np.clip(deg[5], 0.0, 100.0) / 100.0 * (GRIPPER_OPEN - GRIPPER_CLOSED)
+    return np.concatenate([q, [g]])
+
+
+def q_to_deg(q):
+    deg = np.rad2deg(np.asarray(q[:5], dtype=np.float64))
+    g = (q[5] - GRIPPER_CLOSED) / (GRIPPER_OPEN - GRIPPER_CLOSED) * 100.0
+    return np.concatenate([deg, [g]])
+
+
+def lerobot_to_model(deg):
+    out = np.array(deg, dtype=np.float64).copy()
+    out[1] = 90.0 - deg[1]
+    out[2] = deg[2] + 90.0
+    return out
+
+
+def model_to_lerobot(val):
+    out = np.array(val, dtype=np.float64).copy()
+    out[1] = 90.0 - val[1]
+    out[2] = val[2] - 90.0
+    return out
+
+
+@dataclass
+class Sim:
+    scene: str = "Cubes and tray"
+    width: int = 256
+    height: int = 256
+    seed: int = 0
+    model: mujoco.MjModel = field(init=False)
+    data: mujoco.MjData = field(init=False)
+
+    def __post_init__(self):
+        self.model = build_model(self.scene)
+        self.data = mujoco.MjData(self.model)
+        self.qadr = np.array([self.model.joint(j).qposadr[0] for j in JOINTS])
+        self.renderer = mujoco.Renderer(self.model, self.height, self.width)
+        self.big = None
+        self.reset()
+
+    def reset(self):
+        mujoco.mj_resetData(self.model, self.data)
+        rng = np.random.default_rng(self.seed)
+        for i in range(self.model.nbody):
+            name = self.model.body(i).name
+            if name.startswith("obj"):
+                j = self.model.joint(f"{name}_free")
+                a = j.qposadr[0]
+                self.data.qpos[a : a + 2] += rng.uniform(-0.015, 0.015, 2)
+        q = deg_to_q(REST_DEG)
+        self.data.qpos[self.qadr] = q
+        self.data.ctrl[:] = q
+        mujoco.mj_forward(self.model, self.data)
+        for _ in range(120):
+            mujoco.mj_step(self.model, self.data)
+
+    def state_deg(self):
+        return q_to_deg(self.data.qpos[self.qadr])
+
+    def step(self, command_deg):
+        q = deg_to_q(command_deg)
+        lo = self.model.actuator_ctrlrange[:, 0]
+        hi = self.model.actuator_ctrlrange[:, 1]
+        self.data.ctrl[:] = np.clip(q, lo, hi)
+        for _ in range(SUBSTEPS):
+            mujoco.mj_step(self.model, self.data)
+
+    def render(self, camera):
+        self.renderer.update_scene(self.data, camera=camera)
+        return self.renderer.render().copy()
+
+    def render_big(self, camera="overview", width=640, height=480):
+        if self.big is None:
+            self.big = mujoco.Renderer(self.model, height, width)
+        self.big.update_scene(self.data, camera=camera)
+        return self.big.render().copy()
+
+    def close(self):
+        self.renderer.close()
+        if self.big is not None:
+            self.big.close()
+
+    def object_positions(self):
+        out = {}
+        for i in range(self.model.nbody):
+            name = self.model.body(i).name
+            if name.startswith("obj"):
+                out[name] = self.data.body(i).xpos.copy()
+        return out

so101.xml

@@ -0,0 +1,139 @@
+<?xml version="1.0" ?>
+<mujoco model="so101_new_calib_camera">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+  <default>
+    <default class="so101_new_calib">
+      <joint damping="1" frictionloss="0.1" armature="0.005"/>
+      <position kp="50"/>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+      </default>
+    </default>
+  </default>
+    <default>
+    <default class="sts3215">
+      <geom contype="0" conaffinity="0"/>
+      <joint damping="0.60" frictionloss="0.052" armature="0.028"/>
+            <position kp="998.22" kv="2.731" forcerange="-2.94 2.94"/>
+    </default>
+    <default class="backlash">
+            <joint damping="0.01" frictionloss="0" armature="0.01" limited="true" range="-0.008726646259971648 0.008726646259971648"/>
+    </default>
+  </default>
+  <worldbody>
+        <body name="base" pos="0 0 0" quat="1 0 0 0" childclass="so101_new_calib">
+      <inertial pos="0.0137179 -5.19711e-05 0.0334843" mass="0.147" fullinertia="0.000114686 0.000136117 0.000130364 -4.59787e-07 4.97151e-06 9.75275e-08"/>
+            <geom type="mesh" class="visual" pos="-0.00636471 -9.94414e-05 -0.0024" quat="0.5 0.5 0.5 0.5" mesh="base_motor_holder_so101_v1" material="base_motor_holder_so101_v1_material"/>
+            <geom type="mesh" class="visual" pos="-0.00636471 -8.97657e-09 -0.0024" quat="0.5 0.5 0.5 0.5" mesh="base_so101_v2" material="base_so101_v2_material"/>
+            <geom type="mesh" class="visual" pos="0.0263353 -8.97657e-09 0.0437" quat="1 -2.85511e-16 -9.64433e-17 6.12908e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+            <geom type="mesh" class="visual" pos="-0.0309827 -0.000199441 0.0474" quat="0.5 0.5 0.5 0.5" mesh="waveshare_mounting_plate_so101_v2" material="waveshare_mounting_plate_so101_v2_material"/>
+            <site group="3" name="baseframe" pos="8.67362e-19 9.55596e-18 3.46945e-18" quat="1 -8.17396e-19 3.78392e-17 2.22045e-16"/>
+            <body name="shoulder" pos="0.0388353 -8.97657e-09 0.0624" quat="3.56167e-16 1.22818e-15 -1 -4.14635e-16">
+                <joint axis="0 0 1" name="shoulder_pan" type="hinge" range="-1.9198621771937616 1.9198621771937634" class="sts3215"/>
+        <inertial pos="-0.0307604 -1.66727e-05 -0.0252713" mass="0.100006" fullinertia="8.3759e-05 8.10403e-05 2.39783e-05 7.55525e-08 -1.16342e-06 1.54663e-07"/>
+                <geom type="mesh" class="visual" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+        <geom type="mesh" class="collision" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+                <geom type="mesh" class="visual" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
+        <geom type="mesh" class="collision" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
+                <geom type="mesh" class="visual" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 -0 8.3163e-34" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
+        <geom type="mesh" class="collision" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 -0 8.3163e-34" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
+                <body name="upper_arm" pos="-0.0303992 -0.0182778 -0.0542" quat="0.5 -0.5 -0.5 -0.5">
+                    <joint axis="0 0 1" name="shoulder_lift" type="hinge" range="-1.7453292519943224 1.7453292519943366" class="sts3215"/>
+          <inertial pos="-0.0898471 -0.00838224 0.0184089" mass="0.103" fullinertia="4.08002e-05 0.000147318 0.000142487 -1.97819e-05 -4.03016e-08 8.97326e-09"/>
+                    <geom type="mesh" class="visual" pos="-0.11257 -0.0155 0.0187" quat="4.56308e-16 -0.707107 0.707107 -1.37383e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+          <geom type="mesh" class="collision" pos="-0.11257 -0.0155 0.0187" quat="4.56308e-16 -0.707107 0.707107 -1.37383e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+                    <geom type="mesh" class="visual" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
+          <geom type="mesh" class="collision" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
+                    <body name="lower_arm" pos="-0.11257 -0.028 1.73763e-16" quat="0.707107 -5.98613e-17 -2.58051e-17 0.707107">
+                                    <joint axis="0 0 1" name="elbow_flex" type="hinge" range="-1.69 1.69" class="sts3215"/>
+            <inertial pos="-0.0980701 0.00324376 0.0182831" mass="0.104" fullinertia="2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08"/>
+                        <geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
+            <geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
+                        <geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.018" quat="3.92687e-16 -1 -1.9186e-15 -6.38378e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
+            <geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.018" quat="3.92687e-16 -1 -1.9186e-15 -6.38378e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
+                        <geom type="mesh" class="visual" pos="-0.1224 0.0052 0.0187" quat="7.21645e-16 1.56949e-15 1 -3.33067e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+            <geom type="mesh" class="collision" pos="-0.1224 0.0052 0.0187" quat="7.21645e-16 1.56949e-15 1 -3.33067e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+                        <body name="wrist" pos="-0.1349 0.0052 3.62355e-17" quat="0.707107 9.58722e-16 -7.51313e-16 -0.707107">
+                            <joint axis="0 0 1" name="wrist_flex" type="hinge" range="-1.6580628494556928 1.6580627293335335" class="sts3215"/>
+              <inertial pos="-0.000103312 -0.0386143 0.0281156" mass="0.079" fullinertia="3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06"/>
+                            <geom type="mesh" class="visual" pos="8.32667e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
+              <geom type="mesh" class="collision" pos="8.32667e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
+                            <geom type="mesh" class="visual" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
+              <geom type="mesh" class="collision" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
+                            <body name="gripper" pos="5.55112e-17 -0.0611 0.0181" quat="0.0172091 -0.0172091 0.706897 0.706897">
+<camera name="wrist" pos="0.003 0.066 -0.024" xyaxes="-1 0 0 0 -0.906 0.424" fovy="80"/>
+                                <joint axis="0 0 1" name="wrist_roll" type="hinge" range="-2.7438472969992493 2.841206309382605" class="sts3215"/>
+                <inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
+                                <geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 1.66015e-15 6.45094e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+                <geom type="mesh" class="collision" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 1.66015e-15 6.45094e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
+                                <geom type="mesh" class="visual" pos="8.32667e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
+                <geom type="mesh" class="collision" pos="8.32667e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
+                                <site group="3" name="gripperframe" pos="-0.0079 -0.000218121 -0.0981274" quat="0.707107 -0 0.707107 -2.37788e-17"/>
+                                <body name="wrist_camera_mount" pos="-0.0150 0.0240 -0.0315" quat="0.4997981226682881 -0.5001999599912927 0.4998017973423795 -0.5001999599912927">
+                  <inertial pos="0 0 0" mass="0.02" diaginertia="1e-5 1e-5 1e-5"/>
+                                    <geom type="mesh" class="visual" mesh="wrist_camera_mount_so101_v1" material="wrist_camera_mount_so101_v1_material"/>
+                  <geom type="mesh" class="collision" mesh="wrist_camera_mount_so101_v1" material="wrist_camera_mount_so101_v1_material"/>
+                                    <body name="wrist_camera" pos="-0.04941 -0.03813 0.0175" quat="0.37978693649389456 -0.5964584309361936 -0.37978833153177 -0.596456240026065">
+                    <inertial pos="0 0 0" mass="0.015" diaginertia="1e-5 1e-5 1e-5"/>
+                                        <geom type="mesh" class="visual" mesh="wrist_camera_so101_v1" material="wrist_camera_so101_v1_material"/>
+                    <geom type="mesh" class="collision" mesh="wrist_camera_so101_v1" material="wrist_camera_so101_v1_material"/>
+                  </body>
+                </body>
+                                <body name="moving_jaw_so101_v1" pos="0.0202 0.0188 -0.0234" quat="0.707107 0.707107 -1.85362e-08 1.85362e-08">
+                                    <joint axis="0 0 1" name="gripper" type="hinge" range="-0.17453297762778586 1.7453291995659765" class="sts3215"/>
+                  <inertial pos="-0.00157495 -0.0300244 0.0192755" mass="0.012" fullinertia="6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07"/>
+                                    <geom type="mesh" class="visual" pos="-5.55112e-17 -5.55112e-17 0.0189" quat="1 -0 3.00524e-16 -2.00834e-17" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
+                  <geom type="mesh" class="collision" pos="-5.55112e-17 -5.55112e-17 0.0189" quat="1 -0 3.00524e-16 -2.00834e-17" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <asset>
+    <mesh file="waveshare_mounting_plate_so101_v2.stl"/>
+    <mesh file="sts3215_03a_v1.stl"/>
+    <mesh file="motor_holder_so101_base_v1.stl"/>
+    <mesh file="wrist_roll_follower_so101_v1.stl"/>
+    <mesh file="moving_jaw_so101_v1.stl"/>
+    <mesh file="base_motor_holder_so101_v1.stl"/>
+    <mesh file="upper_arm_so101_v1.stl"/>
+    <mesh file="wrist_roll_pitch_so101_v2.stl"/>
+    <mesh file="under_arm_so101_v1.stl"/>
+    <mesh file="rotation_pitch_so101_v1.stl"/>
+    <mesh file="motor_holder_so101_wrist_v1.stl"/>
+    <mesh file="sts3215_03a_no_horn_v1.stl"/>
+    <mesh file="base_so101_v2.stl"/>
+    <mesh file="wrist_camera_mount_so101_v1.stl" scale="0.001 0.001 0.001"/>
+    <mesh file="wrist_camera_so101_v1.stl"/>
+    <material name="base_motor_holder_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="base_so101_v2_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="sts3215_03a_v1_material" rgba="0.1 0.1 0.1 1"/>
+    <material name="waveshare_mounting_plate_so101_v2_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="motor_holder_so101_base_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="rotation_pitch_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="upper_arm_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="under_arm_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="motor_holder_so101_wrist_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="sts3215_03a_no_horn_v1_material" rgba="0.1 0.1 0.1 1.0"/>
+    <material name="wrist_roll_pitch_so101_v2_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="wrist_roll_follower_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="moving_jaw_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="wrist_camera_mount_so101_v1_material" rgba="0.94 0.94 0.92 1"/>
+    <material name="wrist_camera_so101_v1_material" rgba="0.1 0.1 0.1 1"/>
+  </asset>
+  <actuator>
+    <position class="sts3215" name="shoulder_pan" joint="shoulder_pan" forcerange="-3.35 3.35" ctrlrange="-1.91986 1.91986"/>
+    <position class="sts3215" name="shoulder_lift" joint="shoulder_lift" forcerange="-3.35 3.35" ctrlrange="-1.74533 1.74533"/>
+    <position class="sts3215" name="elbow_flex" joint="elbow_flex" forcerange="-3.35 3.35" ctrlrange="-1.69 1.69"/>
+    <position class="sts3215" name="wrist_flex" joint="wrist_flex" forcerange="-3.35 3.35" ctrlrange="-1.65806 1.65806"/>
+    <position class="sts3215" name="wrist_roll" joint="wrist_roll" forcerange="-3.35 3.35" ctrlrange="-2.74385 2.84121"/>
+    <position class="sts3215" name="gripper" joint="gripper" forcerange="-3.35 3.35" ctrlrange="-0.17453 1.74533"/>
+  </actuator>
+  <equality/>
+</mujoco>