| # SO101 Robot - URDF and MuJoCo Description |
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| This repository contains the URDF and MuJoCo (MJCF) files for the SO101 robot. |
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| ## Overview |
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| - 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. |
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| ## Calibration Methods |
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| The MuJoCo file `scene.xml` supports two differenly calibrated SO101 robot files: |
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| - **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`. |
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| To switch between calibration methods, modify the included robot file in `scene.xml`. |
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| ## Motor Parameters |
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| 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). |
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| ## Gripper Note |
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| In LeRobot, the gripper is represented as a **linear joint**, where: |
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| * `0` = fully closed |
| * `100` = fully open |
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| This mapping is **not yet reflected** in the current URDF and MuJoCo files. |
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| --- |
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| Feel free to open an issue or contribute improvements! |
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