<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 3294c4ddf353866c -->
<robot name="so101_new_calib">
  <material name="3d_printed">
    <color rgba="1.0 0.82 0.12 1.0" />
  </material>
  <material name="sts3215">
    <color rgba="0.1 0.1 0.1 1.0" />
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        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
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      <material name="3d_printed" />
    </visual>
    <visual>
      <origin xyz="0.0207909 0.0221255 0.0300817" rpy="1.5708 -0.0 0.0" />
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        <mesh filename="assets/base_so101_v2.stl" />
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      <material name="3d_printed" />
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    <visual>
      <origin xyz="0.0207909 -0.0105745 0.0761817" rpy="-2.20282e-15 2.77556e-17 -1.5708" />
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      <origin xyz="0.0205915 0.0467435 0.0798817" rpy="1.5708 -1.21716e-14 2.33147e-15" />
      <geometry>
        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl" />
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      <material name="3d_printed" />
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      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" />
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  <link name="upper_arm">
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        <mesh filename="assets/sts3215_03a_v1.stl" />
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      <geometry>
        <mesh filename="assets/under_arm_so101_v1.stl" />
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      <material name="3d_printed" />
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    <visual>
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        <mesh filename="assets/motor_holder_so101_wrist_v1.stl" />
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      <material name="3d_printed" />
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    <visual>
      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -3.58047e-15 -3.14159" />
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        <mesh filename="assets/sts3215_03a_v1.stl" />
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      <material name="sts3215" />
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        <mesh filename="assets/under_arm_so101_v1.stl" />
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  <link name="wrist">
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      <geometry>
        <mesh filename="assets/sts3215_03a_no_horn_v1.stl" />
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      <material name="sts3215" />
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    <visual>
      <origin xyz="0.0 -0.028 0.0181" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl" />
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      <material name="3d_printed" />
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    <collision>
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</robot>
