add URDF assets to public/, fix OpenArm DAE materials, fix lint errors

.gitignore

@@ -16,7 +16,8 @@
 # next.js
 /.next/
 /out/
-/public
+/public/*
+!/public/urdf/
 
 # production
 /build

public/urdf/openarm/assets/body_link0.dae

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public/urdf/openarm/assets/body_link0.stl

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public/urdf/openarm/assets/finger.dae

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public/urdf/openarm/assets/finger.stl

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public/urdf/openarm/assets/hand.dae

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public/urdf/openarm/assets/hand.stl

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public/urdf/openarm/assets/link0.dae

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public/urdf/openarm/assets/link0.stl

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public/urdf/openarm/assets/link1.dae

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public/urdf/openarm/assets/link1.stl

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public/urdf/openarm/assets/link2.dae

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public/urdf/openarm/assets/link2.stl

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public/urdf/openarm/assets/link3.dae

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public/urdf/openarm/assets/link3.stl

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public/urdf/openarm/assets/link4.dae

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public/urdf/openarm/assets/link4.stl

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public/urdf/openarm/assets/link5.dae

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public/urdf/openarm/assets/link5.stl

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public/urdf/openarm/assets/link6.stl

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public/urdf/openarm/assets/link7.dae

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public/urdf/openarm/assets/link7.stl

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public/urdf/openarm/openarm_bimanual.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="openarm">
+  <link name="world" />
+  <joint name="openarm_body_world_joint" type="fixed">
+    <parent link="world" />
+    <child link="openarm_body_link0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+  </joint>
+  <link name="openarm_body_link0">
+    <visual name="openarm_body_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/body_link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision name="openarm_body_link0_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/body_link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <mass value="13.89" />
+      <inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051" />
+    </inertial>
+  </link>
+
+  <!-- ═══ LEFT ARM ═══ -->
+  <joint name="openarm_left_openarm_body_link0_joint" type="fixed">
+    <parent link="openarm_body_link0" />
+    <child link="openarm_left_link0" />
+    <origin rpy="-1.5708 0 0" xyz="0.0 0.031 0.698" />
+  </joint>
+  <link name="openarm_left_link0">
+    <visual name="openarm_left_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/link0.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199" />
+      <mass value="1.1432284943239561" />
+      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
+    </inertial>
+  </link>
+  <link name="openarm_left_link1">
+    <visual name="openarm_left_link1_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="assets/link1.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254" />
+      <mass value="1.1416684646202298" />
+      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
+    <parent link="openarm_left_link0" />
+    <child link="openarm_left_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666" />
+  </joint>
+  <link name="openarm_left_link2">
+    <visual name="openarm_left_link2_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="assets/link2.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363" />
+      <mass value="0.2775092746011571" />
+      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint2" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
+    <parent link="openarm_left_link1" />
+    <child link="openarm_left_link2" />
+    <axis xyz="-1 0 0" />
+    <limit effort="40" lower="-3.3161253267948965" upper="0.17453267320510335" velocity="16.754666" />
+  </joint>
+  <link name="openarm_left_link3">
+    <visual name="openarm_left_link3_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="assets/link3.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 -0.0005549085042607548 0.09047470545721961" />
+      <mass value="1.073863338202347" />
+      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
+    <parent link="openarm_left_link2" />
+    <child link="openarm_left_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
+  </joint>
+  <link name="openarm_left_link4">
+    <visual name="openarm_left_link4_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="assets/link4.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
+      <mass value="0.6348534566833373" />
+      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375" />
+    <parent link="openarm_left_link3" />
+    <child link="openarm_left_link4" />
+    <axis xyz="0 1 0" />
+    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
+  </joint>
+  <link name="openarm_left_link5">
+    <visual name="openarm_left_link5_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="assets/link5.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934" />
+      <mass value="0.6156588026168502" />
+      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
+    <parent link="openarm_left_link4" />
+    <child link="openarm_left_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="openarm_left_link6">
+    <visual name="openarm_left_link6_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link6.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05" />
+      <mass value="0.475202773187987" />
+      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
+    <parent link="openarm_left_link5" />
+    <child link="openarm_left_link6" />
+    <axis xyz="1 0 0" />
+    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
+  </joint>
+  <link name="openarm_left_link7">
+    <visual name="openarm_left_link7_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link7.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448" />
+      <mass value="0.4659771327380578" />
+      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
+    <parent link="openarm_left_link6" />
+    <child link="openarm_left_link7" />
+    <axis xyz="0 -1 0" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+
+  <!-- Left hand -->
+  <link name="openarm_left_hand">
+    <visual name="openarm_left_hand_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
+      <geometry>
+        <mesh filename="assets/hand.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
+      <mass value="0.35" />
+      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
+    </inertial>
+  </link>
+  <joint name="left_openarm_hand_joint" type="fixed">
+    <parent link="openarm_left_link7" />
+    <child link="openarm_left_hand" />
+    <origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
+  </joint>
+  <link name="openarm_left_hand_tcp">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0 0.08" />
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_hand_tcp" />
+  </joint>
+  <link name="openarm_left_left_finger">
+    <visual name="openarm_left_left_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <link name="openarm_left_right_finger">
+    <visual name="openarm_left_right_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_finger_joint1" type="prismatic">
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_right_finger" />
+    <origin rpy="0 0 0" xyz="0 -0.006 0.015" />
+    <axis xyz="0 -1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+  </joint>
+  <joint name="openarm_left_finger_joint2" type="prismatic">
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_left_finger" />
+    <origin rpy="0 0 0" xyz="0 0.006 0.015" />
+    <axis xyz="0 1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+    <mimic joint="openarm_left_finger_joint1" />
+  </joint>
+
+  <!-- ═══ RIGHT ARM ═══ -->
+  <joint name="openarm_right_openarm_body_link0_joint" type="fixed">
+    <parent link="openarm_body_link0" />
+    <child link="openarm_right_link0" />
+    <origin rpy="1.5708 0 0" xyz="0.0 -0.031 0.698" />
+  </joint>
+  <link name="openarm_right_link0">
+    <visual name="openarm_right_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" />
+      <mass value="1.1432284943239561" />
+      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
+    </inertial>
+  </link>
+  <link name="openarm_right_link1">
+    <visual name="openarm_right_link1_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="assets/link1.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" />
+      <mass value="1.1416684646202298" />
+      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
+    <parent link="openarm_right_link0" />
+    <child link="openarm_right_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link2">
+    <visual name="openarm_right_link2_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="assets/link2.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" />
+      <mass value="0.2775092746011571" />
+      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint2" type="revolute">
+    <origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
+    <parent link="openarm_right_link1" />
+    <child link="openarm_right_link2" />
+    <axis xyz="-1 0 0" />
+    <limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link3">
+    <visual name="openarm_right_link3_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="assets/link3.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" />
+      <mass value="1.073863338202347" />
+      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
+    <parent link="openarm_right_link2" />
+    <child link="openarm_right_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link4">
+    <visual name="openarm_right_link4_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="assets/link4.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
+      <mass value="0.6348534566833373" />
+      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375" />
+    <parent link="openarm_right_link3" />
+    <child link="openarm_right_link4" />
+    <axis xyz="0 1 0" />
+    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link5">
+    <visual name="openarm_right_link5_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="assets/link5.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" />
+      <mass value="0.6156588026168502" />
+      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
+    <parent link="openarm_right_link4" />
+    <child link="openarm_right_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link6">
+    <visual name="openarm_right_link6_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link6.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" />
+      <mass value="0.475202773187987" />
+      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
+    <parent link="openarm_right_link5" />
+    <child link="openarm_right_link6" />
+    <axis xyz="1 0 0" />
+    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link7">
+    <visual name="openarm_right_link7_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link7.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" />
+      <mass value="0.4659771327380578" />
+      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
+    <parent link="openarm_right_link6" />
+    <child link="openarm_right_link7" />
+    <axis xyz="0 1 0" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+
+  <!-- Right hand -->
+  <link name="openarm_right_hand">
+    <visual name="openarm_right_hand_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
+      <geometry>
+        <mesh filename="assets/hand.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
+      <mass value="0.35" />
+      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
+    </inertial>
+  </link>
+  <joint name="right_openarm_hand_joint" type="fixed">
+    <parent link="openarm_right_link7" />
+    <child link="openarm_right_hand" />
+    <origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
+  </joint>
+  <link name="openarm_right_hand_tcp">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0 0.08" />
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_hand_tcp" />
+  </joint>
+  <link name="openarm_right_left_finger">
+    <visual name="openarm_right_left_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <link name="openarm_right_right_finger">
+    <visual name="openarm_right_right_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_finger_joint1" type="prismatic">
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_right_finger" />
+    <origin rpy="0 0 0" xyz="0 -0.006 0.015" />
+    <axis xyz="0 -1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+  </joint>
+  <joint name="openarm_right_finger_joint2" type="prismatic">
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_left_finger" />
+    <origin rpy="0 0 0" xyz="0 0.006 0.015" />
+    <axis xyz="0 1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+    <mimic joint="openarm_right_finger_joint1" />
+  </joint>
+</robot>
+

public/urdf/so101/assets/base_motor_holder_so101_v1.stl

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public/urdf/so101/so100.urdf

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+<?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 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>
+  <!-- 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 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 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 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 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>
+</robot>
+

public/urdf/so101/so101_new_calib.urdf

@@ -0,0 +1,453 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
+<robot name="so101_new_calib">
+
+  <!-- Materials -->
+  <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"/>
+  </material>
+
+  <!-- Link base -->
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.0137179 -5.19711e-05 0.0334843" 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="-0.00636471 -9.94414e-05 -0.0024" rpy="1.5708 -1.67685e-15 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.00636471 -9.94414e-05 -0.0024" 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="-0.00636471 -8.97657e-09 -0.0024" rpy="1.5708 -2.78073e-29 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.00636471 -8.97657e-09 -0.0024" rpy="1.5708 -2.78073e-29 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="0.0263353 -8.97657e-09 0.0437" rpy="-8.21148e-16 7.84513e-18 1.249e-15"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0263353 -8.97657e-09 0.0437" 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="-0.0309827 -0.000199441 0.0474" rpy="1.5708 -1.35493e-14 1.5708"/>
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0309827 -0.000199441 0.0474" rpy="1.5708 -1.35493e-14 1.5708"/>
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link shoulder -->
+  <link name="shoulder_link">
+    <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="sts3215"/>
+    </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="3d_printed"/>
+    </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="3d_printed"/>
+    </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_link">
+    <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="sts3215"/>
+    </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="3d_printed"/>
+    </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_link">
+    <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="3d_printed"/>
+    </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 -1.83387e-30"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -1.83387e-30"/>
+      <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="sts3215"/>
+    </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_link">
+    <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="8.32667e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="8.32667e-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="3d_printed"/>
+    </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_link">
+    <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="sts3215"/>
+    </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="8.32667e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="8.32667e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Gripper frame (dummy link + fixed joint) -->
+  <link name="gripper_frame_link">
+    <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="gripper_frame_joint" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="0 3.14159 0"/>
+    <parent link="gripper_link"/>
+    <child link="gripper_frame_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="moving_jaw_so101_v1_link">
+    <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 -5.55112e-17 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24"/>
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-5.55112e-17 -5.55112e-17 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="gripper" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -5.24284e-08 -1.41553e-15"/>
+    <parent link="gripper_link"/>
+    <child link="moving_jaw_so101_v1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
+  </joint>
+
+  <transmission name="gripper_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="gripper">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from wrist to gripper -->
+  <joint name="wrist_roll" type="revolute">
+    <origin xyz="5.55112e-17 -0.0611 0.0181" rpy="1.5708 0.0486795 3.14159"/>
+    <parent link="wrist_link"/>
+    <child link="gripper_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.74385" upper="2.84121"/>
+  </joint>
+
+  <transmission name="wrist_roll_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_roll">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="wrist_flex" type="revolute">
+    <origin xyz="-0.1349 0.0052 3.62355e-17" rpy="4.02456e-15 8.67362e-16 -1.5708"/>
+    <parent link="lower_arm_link"/>
+    <child link="wrist_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
+  </joint>
+
+  <transmission name="wrist_flex_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_flex">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from upper_arm to lower_arm -->
+  <!-- Note: 5-degree calibration offset applied to joint limits -->
+  <joint name="elbow_flex" type="revolute">
+    <origin xyz="-0.11257 -0.028 1.73763e-16" rpy="-3.63608e-16 8.74301e-16 1.5708"/>
+    <parent link="upper_arm_link"/>
+    <child link="lower_arm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.69" upper="1.69"/>
+  </joint>
+
+  <transmission name="elbow_flex_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow_flex">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="shoulder_lift" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 -1.5708 0"/>
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.74533" upper="1.74533"/>
+  </joint>
+
+  <transmission name="shoulder_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_lift">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from base to shoulder -->
+  <joint name="shoulder_pan" type="revolute">
+    <origin xyz="0.0388353 -8.97657e-09 0.0624" rpy="3.14159 4.18253e-17 -3.14159"/>
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
+  </joint>
+
+  <transmission name="shoulder_pan_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_pan">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> 
+
+</robot>

src/app/[org]/[dataset]/[episode]/episode-viewer.tsx

@@ -99,7 +99,7 @@ function EpisodeViewerInner({ data, org, dataset }: { data: EpisodeData; org?: s
     }
     return "episodes";
   });
-  const [columnMinMax, setColumnMinMax] = useState<ColumnMinMax[] | null>(null);
+  const [, setColumnMinMax] = useState<ColumnMinMax[] | null>(null);
   const [episodeLengthStats, setEpisodeLengthStats] = useState<EpisodeLengthStats | null>(null);
   const [statsLoading, setStatsLoading] = useState(false);
   const statsLoadedRef = useRef(false);
@@ -478,8 +478,6 @@ function EpisodeViewerInner({ data, org, dataset }: { data: EpisodeData; org?: s
           {activeTab === "statistics" && (
             <StatsPanel
               datasetInfo={datasetInfo}
-              episodeId={episodeId}
-              columnMinMax={columnMinMax}
               episodeLengthStats={episodeLengthStats}
               loading={statsLoading}
             />
@@ -508,7 +506,6 @@ function EpisodeViewerInner({ data, org, dataset }: { data: EpisodeData; org?: s
                 crossEpisodeLoading={insightsLoading}
                 episodeLengthStats={episodeLengthStats}
                 flatChartData={data.flatChartData}
-                fps={datasetInfo.fps || 30}
                 onViewFlaggedEpisodes={() => {
                   setSidebarFlaggedOnly(true);
                   handleTabChange("episodes");

src/app/[org]/[dataset]/[episode]/fetch-data.ts

@@ -301,11 +301,6 @@ async function getEpisodeDataV2(
   const filteredColumns = columnNames.filter(
     (column) => !excludedColumns.includes(column.key),
   );
-  const filteredColumnNames = [
-    "timestamp",
-    ...filteredColumns.map((column) => column.key),
-  ];
-
   const columns: ColumnDef[] = filteredColumns.map(({ key }) => {
     let column_names: unknown = info.features[key].names;
     while (typeof column_names === "object" && column_names !== null) {
@@ -613,15 +608,6 @@ function processEpisodeDataForCharts(
   episodeMetadata?: EpisodeMetadataV3,
 ): { chartDataGroups: ChartRow[][]; flatChartData: Record<string, number>[]; ignoredColumns: string[] } {
   
-  // Get numeric column features
-  const columnNames = Object.entries(info.features)
-    .filter(
-      ([, value]) =>
-        ["float32", "int32"].includes(value.dtype) &&
-        value.shape.length === 1,
-    )
-    .map(([key, value]) => ({ key, value }));
-
   // Convert parquet data to chart format
   let seriesNames: string[] = [];
   

src/components/action-insights-panel.tsx

@@ -302,15 +302,14 @@ function ActionVelocitySection({ data, agg, numEpisodes, jerkyEpisodes }: { data
     });
   }, [data, actionKeys, agg]);
 
-  const stats = (agg && agg.length > 0) ? agg : fallbackStats ?? [];
+  const stats = useMemo(() => (agg && agg.length > 0) ? agg : fallbackStats ?? [], [agg, fallbackStats]);
   const isAgg = agg && agg.length > 0;
 
-  if (stats.length === 0) return <p className="text-slate-500 italic">No action data for velocity analysis.</p>;
-
-  const maxBinCount = Math.max(...stats.flatMap(s => s.bins));
-  const maxStd = Math.max(...stats.map(s => s.std));
+  const maxBinCount = useMemo(() => stats.length > 0 ? Math.max(...stats.flatMap(s => s.bins)) : 0, [stats]);
+  const maxStd = useMemo(() => stats.length > 0 ? Math.max(...stats.map(s => s.std)) : 1, [stats]);
 
   const insight = useMemo(() => {
+    if (stats.length === 0) return null;
     const smooth = stats.filter(s => s.std / maxStd < 0.4);
     const moderate = stats.filter(s => s.std / maxStd >= 0.4 && s.std / maxStd < 0.7);
     const jerky = stats.filter(s => s.std / maxStd >= 0.7);
@@ -348,6 +347,8 @@ function ActionVelocitySection({ data, agg, numEpisodes, jerkyEpisodes }: { data
     return { verdict, lines, tip };
   }, [stats, maxStd]);
 
+  if (stats.length === 0) return <p className="text-slate-500 italic">No action data for velocity analysis.</p>;
+
   return (
     <div className="bg-slate-800/60 rounded-lg p-5 border border-slate-700 space-y-4">
       <div>
@@ -462,6 +463,8 @@ function JerkyEpisodesList({ episodes }: { episodes: JerkyEpisode[] }) {
 // ─── Cross-Episode Variance Heatmap ──────────────────────────────
 
 function VarianceHeatmap({ data, loading }: { data: CrossEpisodeVarianceData | null; loading: boolean }) {
+  const isFs = useIsFullscreen();
+
   if (loading) {
     return (
       <div className="bg-slate-800/60 rounded-lg p-5 border border-slate-700">
@@ -485,8 +488,6 @@ function VarianceHeatmap({ data, loading }: { data: CrossEpisodeVarianceData | n
       </div>
     );
   }
-
-  const isFs = useIsFullscreen();
   const { actionNames, timeBins, variance, numEpisodes } = data;
   const numDims = actionNames.length;
   const numBins = timeBins.length;
@@ -918,14 +919,11 @@ const BC_THRESHOLD = 5 / 9;
 function MultimodalitySection({ data }: { data: CrossEpisodeVarianceData }) {
   const isFs = useIsFullscreen();
   const { actionNames, timeBins, multimodality, numEpisodes } = data;
-  if (!multimodality || multimodality.length === 0) return null;
-
-  const numDims = actionNames.length;
-  const numBins = timeBins.length;
 
   const { bimodalPct, verdict } = useMemo(() => {
+    if (!multimodality || multimodality.length === 0) return { bimodalPct: 0, verdict: { label: "", color: "" } };
     let bimodal = 0, total = 0;
-    for (const row of multimodality!) for (const v of row) { total++; if (v > BC_THRESHOLD) bimodal++; }
+    for (const row of multimodality) for (const v of row) { total++; if (v > BC_THRESHOLD) bimodal++; }
     const pct = total > 0 ? (bimodal / total * 100) : 0;
 
     let v: { label: string; color: string };
@@ -936,6 +934,8 @@ function MultimodalitySection({ data }: { data: CrossEpisodeVarianceData }) {
     return { bimodalPct: pct, verdict: v };
   }, [multimodality]);
 
+  if (!multimodality || multimodality.length === 0) return null;
+
   const mBaseW = isFs ? 1000 : 560;
   const mBaseH = isFs ? 500 : 300;
   const cellW = Math.max(6, Math.min(isFs ? 24 : 14, Math.floor(mBaseW / numBins)));
@@ -1168,7 +1168,7 @@ function TrajectoryClusteringSection({ data, numEpisodes }: { data: TrajectoryCl
             width={plotW} height={plotH}
             className="block bg-slate-900/50 rounded cursor-grab active:cursor-grabbing select-none"
             onMouseDown={onMouseDown} onMouseMove={onMouseMove} onMouseUp={onMouseUp}
-            onMouseLeave={(ev) => { onMouseUp(); setHoveredEp(null); }}
+            onMouseLeave={() => { onMouseUp(); setHoveredEp(null); }}
           >
             {axisLines.map(a => (
               <React.Fragment key={a.label}>

src/components/data-recharts.tsx

@@ -1,6 +1,6 @@
 "use client";
 
-import { useEffect, useState, useCallback } from "react";
+import { useEffect, useState } from "react";
 import { useTime } from "../context/time-context";
 import {
   LineChart,

src/components/filtering-panel.tsx

@@ -247,7 +247,6 @@ interface FilteringPanelProps {
   crossEpisodeLoading: boolean;
   episodeLengthStats: EpisodeLengthStats | null;
   flatChartData: Record<string, number>[];
-  fps: number;
   onViewFlaggedEpisodes?: () => void;
 }
 
@@ -315,7 +314,6 @@ const FilteringPanel: React.FC<FilteringPanelProps> = ({
   crossEpisodeLoading,
   episodeLengthStats,
   flatChartData,
-  fps,
   onViewFlaggedEpisodes,
 }) => {
   return (

src/components/stats-panel.tsx

@@ -1,17 +1,14 @@
 "use client";
 
-import React, { useState } from "react";
+import React from "react";
 import type {
   DatasetDisplayInfo,
-  ColumnMinMax,
   EpisodeLengthStats,
   CameraInfo,
 } from "@/app/[org]/[dataset]/[episode]/fetch-data";
 
 interface StatsPanelProps {
   datasetInfo: DatasetDisplayInfo;
-  episodeId: number;
-  columnMinMax: ColumnMinMax[] | null;
   episodeLengthStats: EpisodeLengthStats | null;
   loading: boolean;
 }
@@ -83,8 +80,6 @@ const Card: React.FC<{ label: string; value: string | number }> = ({ label, valu
 
 const StatsPanel: React.FC<StatsPanelProps> = ({
   datasetInfo,
-  episodeId,
-  columnMinMax,
   episodeLengthStats,
   loading,
 }) => {

src/components/urdf-viewer.tsx

@@ -13,7 +13,7 @@ import { LineMaterial } from "three/examples/jsm/lines/LineMaterial.js";
 import { LineGeometry } from "three/examples/jsm/lines/LineGeometry.js";
 import type { EpisodeData } from "@/app/[org]/[dataset]/[episode]/fetch-data";
 import { fetchEpisodeChartData } from "@/app/[org]/[dataset]/[episode]/actions";
-import { isOpenArmRobot } from "@/lib/so101-robot";
+
 
 const SERIES_DELIM = " | ";
 const DEG2RAD = Math.PI / 180;
@@ -21,12 +21,12 @@ const DEG2RAD = Math.PI / 180;
 function getRobotConfig(robotType: string | null) {
   const lower = (robotType ?? "").toLowerCase();
   if (lower.includes("openarm")) {
-    return { urdfUrl: "/urdf/openarm/openarm_bimanual.urdf", scale: 3, isDualArm: true };
+    return { urdfUrl: "/urdf/openarm/openarm_bimanual.urdf", scale: 3 };
   }
   if (lower.includes("so100") && !lower.includes("so101")) {
-    return { urdfUrl: "/urdf/so101/so100.urdf", scale: 10, isDualArm: false };
+    return { urdfUrl: "/urdf/so101/so100.urdf", scale: 10 };
   }
-  return { urdfUrl: "/urdf/so101/so101_new_calib.urdf", scale: 10, isDualArm: false };
+  return { urdfUrl: "/urdf/so101/so101_new_calib.urdf", scale: 10 };
 }
 
 // Detect unit: servo ticks (0-4096), degrees (>6.28), or radians
@@ -348,7 +348,7 @@ export default function URDFViewer({
   const { datasetInfo, episodes } = data;
   const fps = datasetInfo.fps || 30;
   const robotConfig = useMemo(() => getRobotConfig(datasetInfo.robot_type), [datasetInfo.robot_type]);
-  const { urdfUrl, scale, isDualArm } = robotConfig;
+  const { urdfUrl, scale } = robotConfig;
 
   // Episode selection & chart data
   const [selectedEpisode, setSelectedEpisode] = useState(data.episodeId);