| # 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](https://github.com/Rhoban/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](https://github.com/apirrone/Open_Duck_Mini). | |
| ## Gripper Note | |
| In LeRobot, the gripper is represented as a **linear joint**, where: | |
| * `0` = fully closed | |
| * `100` = fully open | |
| This mapping is **not yet reflected** in the current URDF and MuJoCo files. | |
| --- | |
| Feel free to open an issue or contribute improvements! | |