36 lines
1.4 KiB
Markdown
36 lines
1.4 KiB
Markdown
# SO101 Robot - URDF and MuJoCo Description
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This repository contains the URDF and MuJoCo (MJCF) files for the SO101 robot.
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## Overview
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- The robot model files were generated using the [onshape-to-robot](https://github.com/Rhoban/onshape-to-robot) plugin from a CAD model designed in Onshape.
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- The generated URDFs were modified to allow meshes with relative paths instead of `package://...`.
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- Base collision meshes were removed due to problematic collision behavior during simulation and planning.
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## Calibration Methods
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The MuJoCo file `scene.xml` supports two differenly calibrated SO101 robot files:
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- **New Calibration (Default)**: Each joint's virtual zero is set to the **middle** of its joint range. Use -> `so101_new_calib.xml`.
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- **Old Calibration**: Each joint's virtual zero is set to the configuration where the robot is **fully extended horizontally**. Use -> `so101_old_calib.xml`.
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To switch between calibration methods, modify the included robot file in `scene.xml`.
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## Motor Parameters
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Motor properties for the STS3215 motors used in the robot are adapted from the [Open Duck Mini project](https://github.com/apirrone/Open_Duck_Mini).
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## Gripper Note
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In LeRobot, the gripper is represented as a **linear joint**, where:
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* `0` = fully closed
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* `100` = fully open
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This mapping is **not yet reflected** in the current URDF and MuJoCo files.
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---
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Feel free to open an issue or contribute improvements!
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