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feat: release v1.0.1 CADWorld 网站与 LeKiwi 智能抓放 
集成同源 BYOK 会话隔离、精简模型设置、官方订阅入口和 HTTPS 发布运维；保留本地训练/调参与控制能力。同步 npm 版本及 CHANGELOG，记录公网真实 API 验收仍待用户凭据。
2026-09-24 09:57:41 +08:00

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</joint>
<joint name="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff_Rigid-21" type="fixed">
<origin xyz="0.0 0.0 -0.05" rpy="3.141592653589793 -0.0 0.0" />
<parent link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff" />
<child link="base_plate_layer2-v3" />
</joint>
<joint name="base_plate_layer2-v3_Rigid-22" type="fixed">
<origin xyz="-0.02 -0.1 0.007000000000000002" rpy="0.0 -0.0 0.0" />
<parent link="base_plate_layer2-v3" />
<child link="Bottom-V2-v3" />
</joint>
<joint name="Bottom-V2-v3_Rigid-24" type="fixed">
<origin xyz="0.0197 0.036125 0.0025" rpy="0.0 -0.0 -2.465190328815662e-32" />
<parent link="Bottom-V2-v3" />
<child link="Top-V2-v2" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-28" type="fixed">
<origin xyz="0.02 0.1 0.0" rpy="0.0 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="Camera-Mount-v8" />
</joint>
<joint name="Camera-Mount-v8_Rigid-29" type="fixed">
<origin xyz="-0.034 0.00636666 0.03831948" rpy="3.141592653589793 -1.3962634015954636 3.141592653589793" />
<parent link="Camera-Mount-v8" />
<child link="Camera-Model-v3" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-30" type="fixed">
<origin xyz="0.02 -0.1 0.0" rpy="3.141592653589793 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff-5" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-31" type="fixed">
<origin xyz="0.07660254 0.06732051 0.0" rpy="3.141592653589793 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff-4" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-32" type="fixed">
<origin xyz="-0.09660254 0.032679490000000005 0.0" rpy="3.141592653589793 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff-3" />
</joint>
<joint name="base_plate_layer2-v3_Rigid-42" type="fixed">
<origin xyz="0.04 0.08 0.007000000000000002" rpy="0.0 -0.0 0.0" />
<parent link="base_plate_layer2-v3" />
<child link="Base_08q-v1" />
</joint>
<joint name="Base_08q-v1_Rigid-43" type="fixed">
<origin xyz="-0.04 -0.07525199 0.060300000000000006" rpy="3.141592653589793 6.259293778842913e-51 2.356194490192345" />
<parent link="Base_08q-v1" />
<child link="WaveShare_Mounting_Plate_01d-v1" />
</joint>
<joint name="Base_08q-v1_Rigid-44" type="fixed">
<origin xyz="-0.029750000000000002 -0.045651989999999996 0.027800000000000002" rpy="1.5707963267948966 -8.851978152917189e-51 -2.4803256509655576e-48" />
<parent link="Base_08q-v1" />
<child link="STS3215_03a-v1" />
</joint>
<joint name="arm_shoulder_pan" type="continuous">
<origin xyz="-0.010250000000000084 0.03459999999999999 -0.032799999999999996" rpy="1.5707963267948966 -2.781046729970605e-32 3.94430452610506e-31" />
<parent link="STS3215_03a-v1" />
<child link="Rotation_Pitch_08i-v1" />
<axis xyz="-3.944304526105059e-31 3.944304526105059e-31 1.0" />
</joint>
<joint name="Rotation_Pitch_08i-v1_Rigid-46" type="fixed">
<origin xyz="0.023000000000000066 -0.04085 -0.023200000000000002" rpy="-3.944304526105059e-31 -4.116117285135399e-31 -2.781046729970605e-32" />
<parent link="Rotation_Pitch_08i-v1" />
<child link="SO_ARM100_08k_Asym_Mirror_Clip-v1" />
</joint>
<joint name="Base_08q-v1_Rigid-47" type="fixed">
<origin xyz="-0.04 -0.012851990000000004 0.013599999999999994" rpy="-1.5707963267948966 -8.851978152917189e-51 -2.4803256509655576e-48" />
<parent link="Base_08q-v1" />
<child link="Passive_Horn_01-v1" />
</joint>
<joint name="Rotation_Pitch_08i-v1_Rigid-48" type="fixed">
<origin xyz="-0.016299999999999943 -0.04085 -0.019400000000000014" rpy="1.8260247115545314e-16 -4.116117285135399e-31 -2.781046729970605e-32" />
<parent link="Rotation_Pitch_08i-v1" />
<child link="STS3215_03a-v1-1" />
</joint>
<joint name="arm_shoulder_lift" type="continuous">
<origin xyz="0.0346 0.010249999999999987 -0.032799999999999975" rpy="3.141592653589793 1.7181275903033976e-32 -3.1373434374976504e-48" />
<parent link="STS3215_03a-v1-1" />
<child link="SO_ARM100_08k_116_Square-v1" />
<axis xyz="1.0 0.0 0.0" />
</joint>
<joint name="SO_ARM100_08k_116_Square-v1_Rigid-50" type="fixed">
<origin xyz="-0.03610000000000001 -0.10151227 -0.013699510000000003" rpy="-7.511797348558594e-34 -4.930380657631324e-32 1.3877787807814457e-17" />
<parent link="SO_ARM100_08k_116_Square-v1" />
<child link="STS3215_03a-v1-2" />
</joint>
<joint name="arm_elbow_flex" type="continuous">
<origin xyz="0.0346 -0.013069710000000002 0.03178184000000002" rpy="-6.842277657836021e-49 -3.4512664603419266e-31 -1.3877787807814457e-17" />
<parent link="STS3215_03a-v1-2" />
<child link="SO_ARM100_08k_Mirror-v1" />
<axis xyz="1.0 0.0 0.0" />
</joint>
<joint name="SO_ARM100_08k_Mirror-v1_Rigid-52" type="fixed">
<origin xyz="-0.0361 0.09885064 0.03311837999999998" rpy="-3.1415926535897922 5.9164567891575885e-31 2.91703841149741e-62" />
<parent link="SO_ARM100_08k_Mirror-v1" />
<child link="STS3215_03a-v1-3" />
</joint>
<joint name="arm_wrist_flex" type="continuous">
<origin xyz="0.0346 -0.03408158 0.004398620000000015" rpy="3.1415926535897922 9.860761315262648e-32 -9.503163413661107e-47" />
<parent link="STS3215_03a-v1-3" />
<child link="Wrist_Roll_Pitch_08i-v1" />
<axis xyz="1.0 0.0 9.860761315262648e-32" />
</joint>
<joint name="Wrist_Roll_Pitch_08i-v1_Rigid-54" type="fixed">
<origin xyz="0.0089 0.0339283 -0.04850591000000001" rpy="-3.141592653589793 -9.860761315262648e-32 0.0" />
<parent link="Wrist_Roll_Pitch_08i-v1" />
<child link="STS3215_03a_Wrist_Roll-v1" />
</joint>
<joint name="arm_wrist_roll" type="continuous">
<origin xyz="-0.028999999999999998 0.00810632 0.006869499999999995" rpy="3.141592653589793 -0.0 0.0" />
<parent link="STS3215_03a_Wrist_Roll-v1" />
<child link="Wrist_Roll_08c-v1" />
<axis xyz="0.0 0.42261799999999994 -0.9063079999999999" />
</joint>
<joint name="Wrist_Roll_08c-v1_Rigid-56" type="fixed">
<origin xyz="0.012999999999999998 0.019942129999999985 -0.004906820000000014" rpy="1.5707963267948966 -0.0 0.0" />
<parent link="Wrist_Roll_08c-v1" />
<child link="STS3215_03a-v1-4" />
</joint>
<joint name="arm_gripper" type="continuous">
<origin xyz="-0.032799999999999996 -0.023912249999999986 0.027026410000000018" rpy="-1.5707963267948968 3.944304526105059e-31 -1.9721522630525295e-31" />
<parent link="STS3215_03a-v1-4" />
<child link="Moving_Jaw_08d-v1" />
<axis xyz="-2.74128770133849e-31 -0.9063079999999999 -0.422618" />
</joint>
<joint name="Wrist_Roll_08c-v1_Rigid-58" type="fixed">
<origin xyz="0.012999999999999998 0.027192599999999983 -0.0015258700000000047" rpy="-1.5707963267948966 -0.0 0.0" />
<parent link="Wrist_Roll_08c-v1" />
<child link="Wrist-Camera-Mount-v11" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-69" type="fixed">
<origin xyz="0.1 -0.02 0.0" rpy="3.141592653589793 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff-2" />
</joint>
<joint name="base_plate_layer1-v5_Rigid-70" type="fixed">
<origin xyz="-0.1 -0.02 0.0" rpy="3.141592653589793 -0.0 0.0" />
<parent link="base_plate_layer1-v5" />
<child link="94868A713_NO-THREADS_Female-Threaded-Hex-Standoff-1" />
</joint>
<joint name="Wrist-Camera-Mount-v11_Rigid-71" type="fixed">
<origin xyz="0.0015500000000000004 0.00712333000000001 0.06397354" rpy="1.5707963267948966 -0.0 2.181661564992912" />
<parent link="Wrist-Camera-Mount-v11" />
<child link="Camera-Model-v3-1" />
</joint>
</robot>
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