Skip to content

Updated the new so101 calibration urdf with fixed direction and frame #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
pkooij merged 11 commits into from
Jun 25, 2025
Merged

Updated the new so101 calibration urdf with fixed direction and frame #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
a00c1bd
(update) updated the new so101 calibration urdf with fixed direction …
michel-aractingi Jun 16, 2025
ef4e887
Re-integrate the latest changes in the urdf"
michel-aractingi Jun 17, 2025
33c4cd6
Merge branch 'main' into user/michel-aractingi/2025-06-16-update-so10…
michel-aractingi Jun 17, 2025
b49ce1e
Add back blocks related to transmissions
michel-aractingi Jun 17, 2025
479eec1
Place back the pose of the so101_new_calib to adhere to the same conv…
michel-aractingi Jun 17, 2025
27add4d
add ctrlrange to the xml file to control each joint of so101_new_cali…
michel-aractingi Jun 17, 2025
87989f2
shift joint(3) elbow flex by five degrees to adhere to the offset on …
michel-aractingi Jun 19, 2025
d729950
correct joint 3 offset
michel-aractingi Jun 19, 2025
0aee1d0
style(joints names): Renamming joints to match LeRobot middleware nam…
CarolinePascal Jun 20, 2025
97d7e2a
fix(joints ranges): Fixing ctrlrange to match joints limits, unifying…
CarolinePascal Jun 24, 2025
1c3daeb
fix(joints ranges): Fixing ctrlrange to match joints limits, unifying…
CarolinePascal Jun 24, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 18 additions & 18 deletions Simulation/SO100/so100.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -178,17 +178,17 @@


<!-- Joint from base to shoulder -->
<joint name="1" type="revolute">
<joint name="shoulder_pan" type="revolute">
<parent link="base"/>
<child link="shoulder"/>
<origin xyz="0 -0.0452 0.0165" rpy="1.57079 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-2" upper="2" effort="35" velocity="1"/>
</joint>

<transmission name="1_trans">
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="1">
<joint name="shoulder_pan">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
Expand All @@ -198,17 +198,17 @@
</transmission>

<!-- Joint from shoulder to upper_arm -->
<joint name="2" type="revolute">
<joint name="shoulder_lift" type="revolute">
<parent link="shoulder"/>
<child link="upper_arm"/>
<origin xyz="0 0.1025 0.0306" rpy="-1.8 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="0" upper="3.5" effort="35" velocity="1"/>
</joint>

<transmission name="2_trans">
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="2">
<joint name="shoulder_lift">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
Expand All @@ -218,17 +218,17 @@
</transmission>

<!-- Joint from upper_arm to lower_arm -->
<joint name="3" type="revolute">
<joint name="elbow_flex" type="revolute">
<parent link="upper_arm"/>
<child link="lower_arm"/>
<origin xyz="0 0.11257 0.028" rpy="1.57079 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-3.14158" upper="0" effort="35" velocity="1"/>
</joint>

<transmission name="3_trans">
<transmission name="elbow_flex_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="3">
<joint name="elbow_flex">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
Expand All @@ -238,17 +238,17 @@
</transmission>

<!-- Joint from lower_arm to wrist -->
<joint name="4" type="revolute">
<joint name="wrist_flex" type="revolute">
<parent link="lower_arm"/>
<child link="wrist"/>
<origin xyz="0 0.0052 0.1349" rpy="-1 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-2.5" upper="1.2" effort="35" velocity="1"/>
</joint>

<transmission name="4_trans">
<transmission name="wrist_flex_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="4">
<joint name="wrist_flex">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor4">
Expand All @@ -258,17 +258,17 @@
</transmission>

<!-- Joint from wrist to gripper -->
<joint name="5" type="revolute">
<joint name="wrist_roll" type="revolute">
<parent link="wrist"/>
<child link="gripper"/>
<origin xyz="0 -0.0601 0" rpy="0 1.57079 0"/>
<axis xyz="0 1 0"/>
<limit lower="-3.14158" upper="3.14158" effort="35" velocity="1"/>
</joint>

<transmission name="5_trans">
<transmission name="wrist_roll_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="5">
<joint name="wrist_roll">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
Expand All @@ -278,17 +278,17 @@
</transmission>

<!-- Joint from gripper to jaw -->
<joint name="6" type="revolute">
<joint name="gripper" type="revolute">
<parent link="gripper"/>
<child link="jaw"/>
<origin xyz="-0.0202 -0.0244 0" rpy="0 3.14158 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.2" upper="2.0" effort="35" velocity="1"/>
</joint>

<transmission name="6_trans">
<transmission name="gripper_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="6">
<joint name="gripper">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
Expand Down
91 changes: 58 additions & 33 deletions Simulation/SO101/so101_new_calib.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<?xml version='1.0' encoding='utf-8'?>
<?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">
Expand Down Expand Up @@ -75,7 +75,21 @@
</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="0.020791 0.0157608 0.0324817" rpy="2.77556e-17 -9.52796e-30 -2.64454e-46"/>
<parent link="base"/>
<child link="baseframe"/>
<axis xyz="0 0 0"/>
</joint>
<!-- Link shoulder -->
<link name="shoulder">
<inertial>
Expand Down Expand Up @@ -126,7 +140,6 @@
</geometry>
</collision>
</link>

<!-- Link upper_arm -->
<link name="upper_arm">
<inertial>
Expand Down Expand Up @@ -163,7 +176,6 @@
</geometry>
</collision>
</link>

<!-- Link lower_arm -->
<link name="lower_arm">
<inertial>
Expand Down Expand Up @@ -214,7 +226,6 @@
</geometry>
</collision>
</link>

<!-- Link wrist -->
<link name="wrist">
<inertial>
Expand Down Expand Up @@ -251,7 +262,6 @@
</geometry>
</collision>
</link>

<!-- Link gripper -->
<link name="gripper">
<inertial>
Expand Down Expand Up @@ -288,9 +298,23 @@
</geometry>
</collision>
</link>

<!-- Link jaw -->
<link name="jaw">
<!-- 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="1.5708 1.22465e-16 1.5708"/>
<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"/>
Expand All @@ -312,18 +336,18 @@
</collision>
</link>

<!-- Joint from gripper to jaw -->
<joint name="6" type="revolute">
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint name="gripper" type="revolute">
<origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -5.14108e-17 -1.38655e-14"/>
<parent link="gripper"/>
<child link="jaw"/>
<child link="moving_jaw_so101_v1"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
</joint>

<transmission name="6_trans">
<transmission name="gripper_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="6">
<joint name="gripper">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
Expand All @@ -333,17 +357,17 @@
</transmission>

<!-- Joint from wrist to gripper -->
<joint name="5" type="revolute">
<joint name="wrist_roll" type="revolute">
<origin xyz="0 -0.0611 0.0181" rpy="1.5708 -9.38083e-08 3.14159"/>
<parent link="wrist"/>
<child link="gripper"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-2.79253" upper="2.79253"/>
<limit effort="10" velocity="10" lower="-2.74385" upper="2.84121"/>
</joint>

<transmission name="5_trans">
<transmission name="wrist_roll_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="5">
<joint name="wrist_roll">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
Expand All @@ -353,17 +377,17 @@
</transmission>

<!-- Joint from lower_arm to wrist -->
<joint name="4" type="revolute">
<joint name="wrist_flex" type="revolute">
<origin xyz="-0.1349 0.0052 1.65232e-16" rpy="3.2474e-15 2.86219e-15 -1.5708"/>
<parent link="lower_arm"/>
<child link="wrist"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
</joint>

<transmission name="4_trans">
<transmission name="wrist_flex_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="4">
<joint name="wrist_flex">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor4">
Expand All @@ -373,17 +397,18 @@
</transmission>

<!-- Joint from upper_arm to lower_arm -->
<joint name="3" type="revolute">
<!-- Note: 5-degree calibration offset applied to joint limits -->
<joint name="elbow_flex" type="revolute">
<origin xyz="-0.11257 -0.028 2.46331e-16" rpy="-1.22818e-15 5.75928e-16 1.5708"/>
<parent link="upper_arm"/>
<child link="lower_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.74533" upper="1.5708"/>
<limit effort="10" velocity="10" lower="-1.69" upper="1.69"/>
</joint>

<transmission name="3_trans">
<transmission name="elbow_flex_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="3">
<joint name="elbow_flex">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
Expand All @@ -393,17 +418,17 @@
</transmission>

<!-- Joint from shoulder to upper_arm -->
<joint name="2" type="revolute">
<joint name="shoulder_lift" type="revolute">
<origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 -1.5708 0"/>
<parent link="shoulder"/>
<child link="upper_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.74533" upper="1.74533"/>
</joint>

<transmission name="2_trans">
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="2">
<joint name="shoulder_lift">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
Expand All @@ -413,23 +438,23 @@
</transmission>

<!-- Joint from base to shoulder -->
<joint name="1" type="revolute">
<joint name="shoulder_pan" type="revolute">
<origin xyz="0.0207909 -0.0230745 0.0948817" rpy="-3.14159 6.03684e-16 1.5708"/>
<parent link="base"/>
<child link="shoulder"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
</joint>

<transmission name="1_trans">
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="1">
<joint name="shoulder_pan">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</transmission>

</robot>
</robot>
Loading