EL EMBODY ROBOT LAB

SIMULATOR Project · SO-ARM101

01

ROBOT

Choose a simulator

OFFICIAL PRESET

Standard Open Arm 101

New-calibration joint limits and link dimensions based on the official SO-ARM101 URDF.

Actuators: 6 × STS3215
Reach: ≈ 35 cm
Control: 5 axes + jaw

Robot joint tree

5 DOF + GRIPPEROfficial kinematic chain

SO-ARM101 · NEW CALIBRATION

MOVE TO THE BALL
Drag the green target · adjust the selected joint

BALL 25, 20 cm

DOF5+G

REACH35 cm

PAYLOAD EST.808 g

MAX LOAD1.12 Nm

02

ROBOT HEALTH

TRAINING TASK 010/100

Catch the ball
& place it in the cup

ReachDrag target to the red ball
CatchSelect Gripper and close it below 30%
PlaceMove to the cup and open above 65%

90/100
MECHANICAL SCORE

✓ Collision clearLinks are above the workspace
✓ Voltage compatible7.4 V motor system
✓ Torque healthy1.12 Nm required · 3.4 Nm max

SELECTEDShoulder panFeetech STS3215

Angle 0°

Official limit-110° → 110°100 g modeled link mass

EXPERIENCE → UNDERSTAND → MATHS

What creates torque?

A longer arm or heavier payload creates more turning force at the joint.

●EMBODY PhysicsBrowser · Three.js · Free

○Isaac SimAdvanced · RTX · Coming next