SO101 Robot - URDF and MuJoCo Description
This repository contains the URDF and MuJoCo (MJCF) files for the SO101 robot.
Overview
- The robot model files were generated using the onshape-to-robot plugin from a CAD model designed in Onshape.
- The generated URDFs were modified to allow meshes with relative paths instead of
package://.... - Base collision meshes were removed due to problematic collision behavior during simulation and planning.
Calibration Methods
The MuJoCo file scene.xml supports two differenly calibrated SO101 robot files:
- New Calibration (Default): Each joint's virtual zero is set to the middle of its joint range. Use ->
so101_new_calib.xml. - Old Calibration: Each joint's virtual zero is set to the configuration where the robot is fully extended horizontally. Use ->
so101_old_calib.xml.
To switch between calibration methods, modify the included robot file in scene.xml.
Motor Parameters
Motor properties for the STS3215 motors used in the robot are adapted from the Open Duck Mini project.
Gripper Note
In LeRobot, the gripper is represented as a linear joint, where:
0= fully closed100= fully open
This mapping is not yet reflected in the current URDF and MuJoCo files.
Feel free to open an issue or contribute improvements!