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

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

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

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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
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51 changes: 37 additions & 14 deletions Simulation/SO101/so101_new_calib.urdf
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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 @@ -311,12 +335,11 @@
</geometry>
</collision>
</link>

<!-- Joint from gripper to jaw -->
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint name="6" 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>
Expand Down Expand Up @@ -430,6 +453,6 @@
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</transmission>

</robot>
</robot>
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