kindredbluespirit/mujoco-assets/robotstudio_so101 - Storage Bucket

The Robot Studio SO101 Description (MJCF)

Requires MuJoCo 3.1.3 or later.

Changelog

See CHANGELOG.md for a full history of changes.

Overview

This package contains a robot description (MJCF) of the The Robot Studio SO101 robot developed by [I2 RT Robotics]. It is derived from the publicly available MJCF.

MJCF derivation steps

1. Copied so101_new_calib.xml (commit SHA aec17bbc256d1a7342d53aaa4950595d4c30b40d).
2. Rounded floats and reformatted the XML for readability.
3. Switched to implicitfast.
4. Use default forcerange for actuators rather than 3.35 N/m.
5. Added primitive collision geometries for the gripper and arm.
6. Add default collision solver parameters for the gripper that work well for manipulation.
7. Add a camera mount.

License

This model is released under the Apache License 2.0.