TMS320F28031PNT

{
  "slug": "tms320f28031pnt",
  "version": "0.1.0",
  "type": "component",
  "description": "Texas Instruments Microcontrollers (MCU/MPU/SOC), LQFP-80(12x12). Pinout cross-checked by two models against the datasheet, KiCad symbol/footprint/3D.",
  "tags": [
    "component",
    "embedded processors & controllers",
    "tms320f28031pnt",
    "factory-2.0.0",
    "extractor-text"
  ],
  "dependencies": {},
  "hero": {
    "type": "image",
    "path": "docs/hero.png"
  },
  "files": [
    "page.json",
    "README.md",
    "tms320f28031pnt.kicad_sym",
    "tms320f28031pnt.kicad_mod",
    "tms320f28031pnt.glb",
    "tms320f28031pnt.step",
    "tms320f28031pnt.lbr",
    "docs/hero.png",
    "docs/tms320f28031pnt-datasheet.pdf",
    "viewers/symbol.html",
    "viewers/footprint.html",
    "tms320f28031pnt-hero.glb",
    "tms320f28031pnt-hero.overlay.json"
  ],
  "component": {
    "mpn": "TMS320F28031PNT",
    "manufacturer": "Texas Instruments",
    "package": "LQFP-80(12x12)",
    "pin_count": 80,
    "category": "Embedded Processors & Controllers",
    "subcategory": "Microcontrollers (MCU/MPU/SOC)",
    "datasheet": "https://www.ti.com/cn/lit/gpn/tms320f28033",
    "parts": {
      "symbol": "tms320f28031pnt.kicad_sym",
      "footprint": "tms320f28031pnt.kicad_mod",
      "model_3d": "tms320f28031pnt-hero.glb",
      "model_3d_plain": "tms320f28031pnt.glb",
      "model_3d_step": "tms320f28031pnt-etched.step",
      "model_3d_step_plain": "tms320f28031pnt.step",
      "lbr": "tms320f28031pnt.lbr"
    },
    "distributor_links": {
      "lcsc": "C1337126",
      "digikey": "296-41895-ND",
      "mouser": "595-TMS320F28031PNT"
    },
    "distributor_check": {
      "checked_at": "2026-10-11T01:55:20Z",
      "source": "Component Ocean /api/assign-pns",
      "digikey": {
        "pn": "296-41895-ND",
        "status": "found"
      },
      "mouser": {
        "pn": "595-TMS320F28031PNT",
        "status": "found"
      }
    },
    "pins": [
      {
        "number": "1",
        "name": "GPIO22/EQEP1S/LINTXA",
        "type": "bidirectional",
        "description": "General-purpose I/O 22, default GPIO after reset with internal pull-up enabled; alternates are eQEP1 strobe (I/O) and LIN transmit (O); inputs are not 5 V tolerant."
      },
      {
        "number": "2",
        "name": "GPIO32/SDAA/EPWMSYNCI/ADCSOCAO",
        "type": "bidirectional",
        "description": "General-purpose I/O 32; alternates are I2C-A data (open-drain I/O), ePWM sync input and ADC SOCA output; inputs are not 5 V tolerant."
      },
      {
        "number": "3",
        "name": "GPIO33/SCLA/EPWMSYNCO/ADCSOCBO",
        "type": "bidirectional",
        "description": "General-purpose I/O 33; alternates are I2C-A clock (open-drain I/O), ePWM sync output and ADC SOCB output; inputs are not 5 V tolerant."
      },
      {
        "number": "4",
        "name": "GPIO23/EQEP1I/LINRXA",
        "type": "bidirectional",
        "description": "General-purpose I/O 23; alternates are eQEP1 index (I/O) and LIN receive (I); inputs are not 5 V tolerant."
      },
      {
        "number": "5",
        "name": "GPIO42/COMP1OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 42 with comparator 1 direct output (O) as alternate; inputs are not 5 V tolerant."
      },
      {
        "number": "6",
        "name": "GPIO43/COMP2OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 43 with comparator 2 direct output (O) as alternate; inputs are not 5 V tolerant."
      },
      {
        "number": "7",
        "name": "VDD",
        "type": "power_in",
        "description": "CPU and logic digital supply; 1.8 V nominal, supplied by internal VREG when VREGENZ is low (1.2 µF minimum per VDD pin) or by external 1.71-1.995 V when VREG is disabled."
      },
      {
        "number": "8",
        "name": "VSS",
        "type": "power_in",
        "description": "Digital ground."
      },
      {
        "number": "9",
        "name": "XRS",
        "type": "bidirectional",
        "description": "Device reset input and watchdog reset output, open-drain with internal pull-up; a 2.2 kΩ to 10 kΩ resistor to VDDIO is recommended and any noise-filter capacitor to VSS should be 100 nF or less."
      },
      {
        "number": "10",
        "name": "TRST",
        "type": "input",
        "description": "JTAG test reset with internal pull-down; must be held low during normal operation and needs an external pull-up (about 2.2 kΩ is typical, to be validated for the debug probe)."
      },
      {
        "number": "11",
        "name": "ADCINA7",
        "type": "input",
        "description": "ADC group A channel 7 analog input; ADC full scale is 0 V to 3.3 V in internal reference mode and inputs must not exceed VDDA."
      },
      {
        "number": "12",
        "name": "ADCINA6/COMP3A/AIO6",
        "type": "input",
        "description": "ADC group A channel 6 analog input, also comparator 3A input and digital AIO6; AIO function is disabled at reset."
      },
      {
        "number": "13",
        "name": "ADCINA5",
        "type": "input",
        "description": "ADC group A channel 5 analog input (80-pin PN package only); unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "14",
        "name": "ADCINA4/COMP2A/AIO4",
        "type": "input",
        "description": "ADC group A channel 4 analog input, also comparator 2A input and digital AIO4; AIO function is disabled at reset."
      },
      {
        "number": "15",
        "name": "ADCINA3",
        "type": "input",
        "description": "ADC group A channel 3 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "16",
        "name": "ADCINA2/COMP1A/AIO2",
        "type": "input",
        "description": "ADC group A channel 2 analog input, also comparator 1A input and digital AIO2; AIO function is disabled at reset."
      },
      {
        "number": "17",
        "name": "ADCINA1",
        "type": "input",
        "description": "ADC group A channel 1 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "18",
        "name": "ADCINA0",
        "type": "input",
        "description": "ADC group A channel 0 analog input on a dedicated pin in the PN package; inputs must not exceed VDDA when internal or external reference mode is used."
      },
      {
        "number": "19",
        "name": "VREFHI",
        "type": "input",
        "description": "ADC external reference high, used only in ADC external reference mode; must not exceed VDDA."
      },
      {
        "number": "20",
        "name": "VDDA",
        "type": "power_in",
        "description": "Analog supply, 2.97 V to 3.63 V (3.3 V nominal); place a 2.2 µF capacitor (typical) near this pin."
      },
      {
        "number": "21",
        "name": "VSSA",
        "type": "power_in",
        "description": "Analog ground."
      },
      {
        "number": "22",
        "name": "VREFLO",
        "type": "input",
        "description": "ADC external reference low; must be at VSSA-referenced ground in internal reference mode, and VREFLO must be limited to 0.66 V or less in external reference mode."
      },
      {
        "number": "23",
        "name": "ADCINB0",
        "type": "input",
        "description": "ADC group B channel 0 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "24",
        "name": "ADCINB1",
        "type": "input",
        "description": "ADC group B channel 1 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "25",
        "name": "ADCINB2/COMP1B/AIO10",
        "type": "input",
        "description": "ADC group B channel 2 analog input, also comparator 1B input and digital AIO10; AIO function is disabled at reset."
      },
      {
        "number": "26",
        "name": "ADCINB3",
        "type": "input",
        "description": "ADC group B channel 3 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "27",
        "name": "ADCINB4/COMP2B/AIO12",
        "type": "input",
        "description": "ADC group B channel 4 analog input, also comparator 2B input and digital AIO12; AIO function is disabled at reset."
      },
      {
        "number": "28",
        "name": "ADCINB5",
        "type": "input",
        "description": "ADC group B channel 5 analog input (80-pin PN package only); unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "29",
        "name": "ADCINB6/COMP3B/AIO14",
        "type": "input",
        "description": "ADC group B channel 6 analog input, also comparator 3B input and digital AIO14; AIO function is disabled at reset."
      },
      {
        "number": "30",
        "name": "ADCINB7",
        "type": "input",
        "description": "ADC group B channel 7 analog input; unused ADC inputs should be tied to VSSA."
      },
      {
        "number": "31",
        "name": "GPIO27/HRCAP2/SPISTEB",
        "type": "bidirectional",
        "description": "General-purpose I/O 27; alternates are high-resolution capture 2 input (I) and SPI-B slave transmit enable (I/O); inputs are not 5 V tolerant."
      },
      {
        "number": "32",
        "name": "GPIO31/CANTXA",
        "type": "bidirectional",
        "description": "General-purpose I/O 31; alternate is eCAN-A transmit (O); also used by the serial boot loader; inputs are not 5 V tolerant."
      },
      {
        "number": "33",
        "name": "GPIO30/CANRXA",
        "type": "bidirectional",
        "description": "General-purpose I/O 30; alternate is eCAN-A receive (I); also used by the serial boot loader; inputs are not 5 V tolerant."
      },
      {
        "number": "34",
        "name": "GPIO29/SCITXDA/SCLA/TZ3",
        "type": "bidirectional",
        "description": "General-purpose I/O 29; alternates are SCI-A transmit (O), I2C-A clock (open-drain I/O) and trip-zone 3 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "35",
        "name": "VSS",
        "type": "power_in",
        "description": "Digital ground."
      },
      {
        "number": "36",
        "name": "VDDIO",
        "type": "power_in",
        "description": "Digital I/O buffer and flash supply, 2.97 V to 3.63 V (3.3 V nominal); must be powered before or with VDD and each pin needs a decoupling capacitor."
      },
      {
        "number": "37",
        "name": "GPIO26/HRCAP1/SPICLKB",
        "type": "bidirectional",
        "description": "General-purpose I/O 26; alternates are high-resolution capture 1 input (I) and SPI-B clock (I/O); inputs are not 5 V tolerant."
      },
      {
        "number": "38",
        "name": "TEST2",
        "type": "unconnected",
        "description": "Reserved for TI test use; must be left unconnected on the board."
      },
      {
        "number": "39",
        "name": "GPIO9/EPWM5B/LINTXA/HRCAP1",
        "type": "bidirectional",
        "description": "General-purpose I/O 9; alternates are ePWM5B output (O), LIN transmit (O) and high-resolution capture 1 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "40",
        "name": "GPIO28/SCIRXDA/SDAA/TZ2",
        "type": "bidirectional",
        "description": "General-purpose I/O 28; alternates are SCI-A receive (I), I2C-A data (open-drain I/O) and trip-zone 2 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "41",
        "name": "GPIO18/SPICLKA/LINTXA/XCLKOUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 18; alternates are SPI-A clock (I/O), LIN transmit (O) and XCLKOUT (O/Z, SYSCLKOUT-derived, reset value SYSCLKOUT/4); inputs are not 5 V tolerant."
      },
      {
        "number": "42",
        "name": "GPIO17/SPISOMIA/TZ3",
        "type": "bidirectional",
        "description": "General-purpose I/O 17; alternates are SPI-A slave-out/master-in (I/O) and trip-zone 3 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "43",
        "name": "GPIO8/EPWM5A/ADCSOCAO",
        "type": "bidirectional",
        "description": "General-purpose I/O 8; alternates are ePWM5A output with HRPWM channel (O) and ADC SOCA output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "44",
        "name": "GPIO25/SPISOMIB",
        "type": "bidirectional",
        "description": "General-purpose I/O 25; alternate is SPI-B slave-out/master-in (I/O), available on the PN package only; inputs are not 5 V tolerant."
      },
      {
        "number": "45",
        "name": "GPIO44",
        "type": "bidirectional",
        "description": "General-purpose I/O 44 with no peripheral alternate function listed; inputs are not 5 V tolerant."
      },
      {
        "number": "46",
        "name": "GPIO16/SPISIMOA/TZ2",
        "type": "bidirectional",
        "description": "General-purpose I/O 16; alternates are SPI-A slave-in/master-out (I/O) and trip-zone 2 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "47",
        "name": "GPIO12/TZ1/SCITXDA/SPISIMOB",
        "type": "bidirectional",
        "description": "General-purpose I/O 12; alternates are trip-zone 1 input (I), SCI-A transmit (O) and SPI-B slave-in/master-out (I/O, PN package only); inputs are not 5 V tolerant."
      },
      {
        "number": "48",
        "name": "GPIO41/EPWM7B",
        "type": "bidirectional",
        "description": "General-purpose I/O 41; alternate is ePWM7B output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "49",
        "name": "GPIO7/EPWM4B/SCIRXDA",
        "type": "bidirectional",
        "description": "General-purpose I/O 7; alternates are ePWM4B output (O) and SCI-A receive (I); inputs are not 5 V tolerant."
      },
      {
        "number": "50",
        "name": "GPIO6/EPWM4A/EPWMSYNCI/EPWMSYNCO",
        "type": "bidirectional",
        "description": "General-purpose I/O 6; alternates are ePWM4A output with HRPWM channel (O), external ePWM sync input (I) and external ePWM sync output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "51",
        "name": "X2",
        "type": "output",
        "description": "On-chip crystal oscillator output; must be connected to a crystal or ceramic resonator with X1, and left unconnected if not used."
      },
      {
        "number": "52",
        "name": "X1",
        "type": "input",
        "description": "1.8 V on-chip crystal oscillator input; must not be driven with 3.3 V levels, and must be tied to GND if the oscillator is not used."
      },
      {
        "number": "53",
        "name": "VSS",
        "type": "power_in",
        "description": "Digital ground."
      },
      {
        "number": "54",
        "name": "VDD",
        "type": "power_in",
        "description": "CPU and logic digital supply pin; 1.8 V nominal, with 1.2 µF minimum decoupling per VDD pin when the internal VREG is used."
      },
      {
        "number": "55",
        "name": "GPIO19/XCLKIN/SPISTEA/LINRXA/ECAP1",
        "type": "bidirectional",
        "description": "General-purpose I/O 19; alternates are external oscillator clock input XCLKIN (I), SPI-A slave transmit enable (I/O), LIN receive (I) and ECAP1 (I/O); may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "56",
        "name": "GPIO39",
        "type": "bidirectional",
        "description": "General-purpose I/O 39 with no peripheral alternate function listed; inputs are not 5 V tolerant."
      },
      {
        "number": "57",
        "name": "GPIO38/TCK/XCLKIN",
        "type": "bidirectional",
        "description": "General-purpose I/O 38; default function is JTAG test clock TCK (I, internal pull-up) and alternate is XCLKIN (I); may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "58",
        "name": "GPIO37/TDO",
        "type": "tri_state",
        "description": "General-purpose I/O 37; JTAG scan data output TDO (O/Z, 8 mA drive) that cannot be used as GPIO while a JTAG debug probe is connected; may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "59",
        "name": "GPIO35/TDI",
        "type": "bidirectional",
        "description": "General-purpose I/O 35; JTAG test data input TDI (I, internal pull-up) with GPIO function unavailable during debug; may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "60",
        "name": "GPIO36/TMS",
        "type": "bidirectional",
        "description": "General-purpose I/O 36; JTAG test mode select TMS (I, internal pull-up) with GPIO function unavailable during debug; may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "61",
        "name": "GPIO11/EPWM6B/LINRXA/HRCAP2",
        "type": "bidirectional",
        "description": "General-purpose I/O 11; alternates are ePWM6B output (O), LIN receive (I) and high-resolution capture 2 input (I); inputs are not 5 V tolerant."
      },
      {
        "number": "62",
        "name": "GPIO5/EPWM3B/SPISIMOA/ECAP1",
        "type": "bidirectional",
        "description": "General-purpose I/O 5; alternates are ePWM3B output (O), SPI-A slave-in/master-out (I/O) and ECAP1 (I/O); inputs are not 5 V tolerant."
      },
      {
        "number": "63",
        "name": "GPIO4/EPWM3A",
        "type": "bidirectional",
        "description": "General-purpose I/O 4; alternate is ePWM3A output with HRPWM channel (O); inputs are not 5 V tolerant."
      },
      {
        "number": "64",
        "name": "GPIO40/EPWM7A",
        "type": "bidirectional",
        "description": "General-purpose I/O 40; alternate is ePWM7A output with HRPWM channel (O); inputs are not 5 V tolerant."
      },
      {
        "number": "65",
        "name": "GPIO10/EPWM6A/ADCSOCBO",
        "type": "bidirectional",
        "description": "General-purpose I/O 10; alternates are ePWM6A output with HRPWM channel (O) and ADC SOCB output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "66",
        "name": "GPIO3/EPWM2B/SPISOMIA/COMP2OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 3; alternates are ePWM2B output (O), SPI-A slave-out/master-in (I/O) and comparator 2 direct output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "67",
        "name": "GPIO2/EPWM2A",
        "type": "bidirectional",
        "description": "General-purpose I/O 2; alternate is ePWM2A output with HRPWM channel (O); inputs are not 5 V tolerant."
      },
      {
        "number": "68",
        "name": "GPIO1/EPWM1B/COMP1OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 1; alternates are ePWM1B output (O) and comparator 1 direct output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "69",
        "name": "GPIO0/EPWM1A",
        "type": "bidirectional",
        "description": "General-purpose I/O 0; alternate is ePWM1A output with HRPWM channel (O); inputs are not 5 V tolerant."
      },
      {
        "number": "70",
        "name": "VDDIO",
        "type": "power_in",
        "description": "Digital I/O buffer and flash supply, 2.97 V to 3.63 V (3.3 V nominal); decoupling capacitor required on each pin."
      },
      {
        "number": "71",
        "name": "VSS",
        "type": "power_in",
        "description": "Digital ground."
      },
      {
        "number": "72",
        "name": "VDD",
        "type": "power_in",
        "description": "CPU and logic digital supply pin; 1.8 V nominal, with 1.2 µF minimum decoupling per VDD pin when the internal VREG is used."
      },
      {
        "number": "73",
        "name": "VREGENZ",
        "type": "input",
        "description": "Internal regulator enable with internal pull-down: tie to VSS to enable the 1.8 V VREG, or tie to VDDIO to disable VREG and supply VDD externally."
      },
      {
        "number": "74",
        "name": "GPIO34/COMP2OUT/COMP3OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 34; alternates are comparator 2 direct output (O) and comparator 3 direct output (O); may glitch during power-up when the on-chip VREG is used."
      },
      {
        "number": "75",
        "name": "GPIO15/TZ1/LINRXA/SPISTEB",
        "type": "bidirectional",
        "description": "General-purpose I/O 15; alternates are trip-zone 1 input (I), LIN receive (I) and SPI-B slave transmit enable (I/O), PN package only; inputs are not 5 V tolerant."
      },
      {
        "number": "76",
        "name": "GPIO13/TZ2/SPISOMIB",
        "type": "bidirectional",
        "description": "General-purpose I/O 13; alternates are trip-zone 2 input (I) and SPI-B slave-out/master-in (I/O), PN package only; inputs are not 5 V tolerant."
      },
      {
        "number": "77",
        "name": "GPIO14/TZ3/LINTXA/SPICLKB",
        "type": "bidirectional",
        "description": "General-purpose I/O 14; alternates are trip-zone 3 input (I), LIN transmit (O) and SPI-B clock (I/O), PN package only; inputs are not 5 V tolerant."
      },
      {
        "number": "78",
        "name": "GPIO20/EQEP1A/COMP1OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 20; alternates are eQEP1 input A (I) and comparator 1 direct output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "79",
        "name": "GPIO21/EQEP1B/COMP2OUT",
        "type": "bidirectional",
        "description": "General-purpose I/O 21; alternates are eQEP1 input B (I) and comparator 2 direct output (O); inputs are not 5 V tolerant."
      },
      {
        "number": "80",
        "name": "GPIO24/ECAP1/SPISIMOB",
        "type": "bidirectional",
        "description": "General-purpose I/O 24; alternates are ECAP1 (I/O) and SPI-B slave-in/master-out (I/O), PN package only; inputs are not 5 V tolerant."
      }
    ],
    "provenance": {
      "extractor": "extract_pins 0.3",
      "factory_chain": {
        "factory": "2.0.0",
        "extractor": "extract_pins 0.3",
        "primary_model": "claude-haiku-5-5",
        "primary_mode": "text",
        "consensus_model": "claude-sonnet-5-5",
        "consensus": "agreed",
        "guards": "pin_guards 0.1: passed",
        "guard_notes": [
          "extractor flagged: TEST2 (pin 38) is classified I/O in Table 5-1 but the datasheet states it is reserved for TI and mus; Pin-to-name mapping was taken from the PN column of Table 5-1 and the GPIO multiplexer tables, which; Pins listed as GPIO carry their reset default (GPIO) function as the primary name; the JTAG pins (TR"
        ],
        "pages_sent": 120,
        "cost_usd": 0.8446,
        "at": "2026-10-11T01:54:51"
      },
      "datasheet": {
        "url": "https://www.ti.com/cn/lit/gpn/tms320f28033",
        "pages": 176,
        "sha256": "cb9ccecfd6b5c484",
        "source_tier": "lcsc"
      },
      "cad": "KiCad official (CC-BY-SA 4.0)",
      "pins": {
        "total": 80,
        "described": 80,
        "cites_pages": true,
        "refuses_to_fabricate": true
      }
    },
    "viewers": {
      "symbol": "viewers/symbol.html",
      "footprint": "viewers/footprint.html"
    },
    "models_3d": [
      {
        "file": "tms320f28031pnt.step",
        "role": "plain",
        "up": "Z",
        "units": "mm",
        "origin": "footprint origin = pad-pattern centre",
        "seat": "z = 0",
        "extents_mm": [
          14.0,
          14.0,
          1.5
        ],
        "zmin_mm": 0.0,
        "centre_offset_mm": 0.0,
        "footprint_binding": "identity",
        "sha256": "f782bdbc6327d920be33e2b9906695d7c3690117933775c3f145eac71f2013ac",
        "checked": "2026-10-11",
        "checked_by": "factory/step_pose.py (Z-up, origin, seat, binding)"
      },
      {
        "file": "tms320f28031pnt-etched.step",
        "role": "eda",
        "up": "Z",
        "units": "mm",
        "origin": "footprint origin = pad-pattern centre",
        "seat": "z = 0",
        "extents_mm": [
          14.0,
          14.0,
          1.5
        ],
        "zmin_mm": 0.0,
        "centre_offset_mm": 0.0,
        "footprint_binding": "identity",
        "sha256": "e80dec91bcac953bdb98cf0d262519a8c8d76e9c4ac753386f56f53901a9485f",
        "checked": "2026-10-11",
        "checked_by": "factory/step_pose.py (Z-up, origin, seat, binding)"
      }
    ]
  }
}