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Add old and new simulation files for so101

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Pepijn
2025-05-19 15:11:23 +02:00
parent 3357c8be4c
commit 1b74d9fcaa
7 changed files with 682 additions and 64 deletions
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34
Simulation/SO101/README.md Normal file
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@@ -0,0 +1,34 @@
# 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.
- 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!

1
Simulation/SO101/joints_properties.xml
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@@ -1,4 +1,3 @@
<!-- Taken from https://github.com/apirrone/Open_Duck_Playground -->
<default>
<default class="sts3215">
<geom contype="0" conaffinity="0"/>

2
Simulation/SO101/scene.xml
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@@ -1,5 +1,5 @@
<mujoco model="scene">
<include file="so101.xml" />
<include file="so101_new_calib.xml" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

53
Simulation/SO101/so101.urdf → Simulation/SO101/so101_new_calib.urdf
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@@ -1,6 +1,7 @@
<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<robot name="so101">
<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
<robot name="so101_new_calib">
<!-- Link base -->
<link name="base">
<inertial>
@@ -153,7 +154,7 @@
</inertial>
<!-- Part sts3215_03a_v1_3 -->
<visual>
<origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -1.31839e-15 -1.5708"/>
<origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -6.8695e-16 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
@@ -162,14 +163,14 @@
</material>
</visual>
<collision>
<origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -1.31839e-15 -1.5708"/>
<origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -6.8695e-16 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
<!-- Part upper_arm_so101_v1 -->
<visual>
<origin xyz="-0.065085 0.012 0.0182" rpy="-3.14159 -0 0"/>
<origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -9.35612e-32 0"/>
<geometry>
<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
</geometry>
@@ -178,7 +179,7 @@
</material>
</visual>
<collision>
<origin xyz="-0.065085 0.012 0.0182" rpy="-3.14159 -0 0"/>
<origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -9.35612e-32 0"/>
<geometry>
<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
</geometry>
@@ -193,7 +194,7 @@
</inertial>
<!-- Part under_arm_so101_v1 -->
<visual>
<origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 9.86076e-32 7.88861e-31"/>
<origin xyz="-0.0648499 -0.032 0.0182" rpy="-3.14159 -0 3.9443e-31"/>
<geometry>
<mesh filename="package://assets/under_arm_so101_v1.stl"/>
</geometry>
@@ -202,14 +203,14 @@
</material>
</visual>
<collision>
<origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 9.86076e-32 7.88861e-31"/>
<origin xyz="-0.0648499 -0.032 0.0182" rpy="-3.14159 -0 3.9443e-31"/>
<geometry>
<mesh filename="package://assets/under_arm_so101_v1.stl"/>
</geometry>
</collision>
<!-- Part motor_holder_so101_wrist_v1 -->
<visual>
<origin xyz="-0.0648499 -0.032 0.018" rpy="3.14159 1.58207e-15 7.14706e-16"/>
<origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 4.73317e-30 7.88861e-31"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
</geometry>
@@ -218,14 +219,14 @@
</material>
</visual>
<collision>
<origin xyz="-0.0648499 -0.032 0.018" rpy="3.14159 1.58207e-15 7.14706e-16"/>
<origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 4.73317e-30 7.88861e-31"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
</geometry>
</collision>
<!-- Part sts3215_03a_v1_4 -->
<visual>
<origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -6.93889e-15 -3.14159"/>
<origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -3.58047e-15 -3.14159"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
@@ -234,7 +235,7 @@
</material>
</visual>
<collision>
<origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -6.93889e-15 -3.14159"/>
<origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -3.58047e-15 -3.14159"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
@@ -249,7 +250,7 @@
</inertial>
<!-- Part sts3215_03a_no_horn_v1 -->
<visual>
<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
</geometry>
@@ -258,7 +259,7 @@
</material>
</visual>
<collision>
<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
</geometry>
@@ -305,7 +306,7 @@
</collision>
<!-- Part wrist_roll_follower_so101_v1 -->
<visual>
<origin xyz="5.55112e-17 -0.000218214 0.000949706" rpy="3.14159 -5.55112e-17 -2.54515e-32"/>
<origin xyz="5.55112e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -9.17912e-24"/>
<geometry>
<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
</geometry>
@@ -314,7 +315,7 @@
</material>
</visual>
<collision>
<origin xyz="5.55112e-17 -0.000218214 0.000949706" rpy="3.14159 -5.55112e-17 -2.54515e-32"/>
<origin xyz="5.55112e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -9.17912e-24"/>
<geometry>
<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
</geometry>
@@ -330,7 +331,7 @@
</inertial>
</link>
<joint name="gripper_frame" type="fixed">
<origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-1.5708 -0 -1.5708"/>
<origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-1.5708 1.97215e-31 -1.5708"/>
<parent link="gripper"/>
<child link="gripper"/>
<axis xyz="0 0 0"/>
@@ -344,7 +345,7 @@
</inertial>
<!-- Part moving_jaw_so101_v1 -->
<visual>
<origin xyz="2.77556e-17 -1.31397e-17 0.0189" rpy="9.53145e-17 1.02153e-32 1.57772e-30"/>
<origin xyz="-5.55112e-17 -1.94746e-17 0.0189" rpy="9.53145e-17 -4.66093e-24 0"/>
<geometry>
<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
</geometry>
@@ -353,7 +354,7 @@
</material>
</visual>
<collision>
<origin xyz="2.77556e-17 -1.31397e-17 0.0189" rpy="9.53145e-17 1.02153e-32 1.57772e-30"/>
<origin xyz="-5.55112e-17 -1.94746e-17 0.0189" rpy="9.53145e-17 -4.66093e-24 0"/>
<geometry>
<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
</geometry>
@@ -361,15 +362,15 @@
</link>
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint name="6" type="revolute">
<origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 4.00612e-15 -2.2678e-16"/>
<origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -5.14108e-17 -1.38655e-14"/>
<parent link="gripper"/>
<child link="moving_jaw_so101_v1"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-0.261799" upper="1.74533"/>
<limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
</joint>
<!-- Joint from wrist to gripper -->
<joint name="5" type="revolute">
<origin xyz="-2.77556e-17 -0.0611 0.0181" rpy="1.5708 2.18394e-16 3.14159"/>
<origin xyz="0 -0.0611 0.0181" rpy="1.5708 -9.38083e-08 3.14159"/>
<parent link="wrist"/>
<child link="gripper"/>
<axis xyz="0 0 1"/>
@@ -377,7 +378,7 @@
</joint>
<!-- Joint from lower_arm to wrist -->
<joint name="4" type="revolute">
<origin xyz="-0.1349 0.0052 3.21791e-16" rpy="-1.11022e-16 1.11022e-16 -1.5708"/>
<origin xyz="-0.1349 0.0052 1.65232e-16" rpy="3.2474e-15 2.86219e-15 -1.5708"/>
<parent link="lower_arm"/>
<child link="wrist"/>
<axis xyz="0 0 1"/>
@@ -385,19 +386,19 @@
</joint>
<!-- Joint from upper_arm to lower_arm -->
<joint name="3" type="revolute">
<origin xyz="-0.11257 -0.028 2.29417e-16" rpy="-2.26208e-15 -1.3739e-15 3.14159"/>
<origin xyz="-0.11257 -0.028 2.46331e-16" rpy="-1.22818e-15 5.75928e-16 1.5708"/>
<parent link="upper_arm"/>
<child link="lower_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.22886" upper="0.0872665"/>
<limit effort="10" velocity="10" lower="-1.74533" upper="1.5708"/>
</joint>
<!-- Joint from shoulder to upper_arm -->
<joint name="2" type="revolute">
<origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="1.5708 8.18789e-16 3.14159"/>
<origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 -1.5708 0"/>
<parent link="shoulder"/>
<child link="upper_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-0.174533" upper="3.31613"/>
<limit effort="10" velocity="10" lower="-1.74533" upper="1.74533"/>
</joint>
<!-- Joint from base to shoulder -->
<joint name="1" type="revolute">

73
Simulation/SO101/so101.xml → Simulation/SO101/so101_new_calib.xml
View File

@@ -1,9 +1,10 @@
<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<mujoco model="so101">
<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
<mujoco model="so101_new_calib">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<default>
<default class="so101">
<default class="so101_new_calib">
<joint frictionloss="0.1" armature="0.005"/>
<position kp="50" dampratio="1"/>
<default class="visual">
@@ -14,7 +15,7 @@
</default>
</default>
</default>
<!-- Additional joints_properties.xml, from https://github.com/apirrone/Open_Duck_Playground -->
<!-- Additional joints_properties.xml -->
<default>
<default class="sts3215">
<geom contype="0" conaffinity="0"/>
@@ -28,7 +29,7 @@
</default>
<worldbody>
<!-- Link base -->
<body name="base" pos="0 0 0" quat="1 0 0 0" childclass="so101">
<body name="base" pos="0 0 0" quat="1 0 0 0" childclass="so101_new_calib">
<inertial pos="0.020739 0.00204287 0.065966" mass="0.147" fullinertia="0.000136117 0.000114686 0.000130364 4.59787e-07 9.75275e-08 -4.97151e-06"/>
<!-- Part base_motor_holder_so101_v1 -->
<geom type="mesh" class="visual" pos="0.0206915 0.0221255 0.0300817" quat="0.707107 0.707107 7.85046e-16 8.68107e-16" mesh="base_motor_holder_so101_v1" material="base_motor_holder_so101_v1_material"/>
@@ -55,62 +56,62 @@
<geom type="mesh" class="visual" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
<geom type="mesh" class="collision" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
<!-- Link upper_arm -->
<body name="upper_arm" pos="-0.0303992 -0.0182778 -0.0542" quat="1.88657e-16 -0 0.707107 0.707107">
<body name="upper_arm" pos="-0.0303992 -0.0182778 -0.0542" quat="0.5 -0.5 -0.5 -0.5">
<!-- Joint from shoulder to upper_arm -->
<joint axis="0 0 1" name="2" type="hinge" range="-0.17453292519943472 3.3161255787892245" class="sts3215"/>
<joint axis="0 0 1" name="2" type="hinge" range="-1.7453292519943269 1.7453292519943322" class="sts3215"/>
<inertial pos="-0.0898471 -0.00838224 0.0184089" mass="0.103" fullinertia="4.08002e-05 0.000147318 0.000142487 -1.97819e-05 -4.03016e-08 8.97326e-09"/>
<!-- Part sts3215_03a_v1_3 -->
<geom type="mesh" class="visual" pos="-0.11257 -0.0155 0.0187" quat="8.61227e-17 -0.707107 0.707107 -6.73749e-18" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.11257 -0.0155 0.0187" quat="8.61227e-17 -0.707107 0.707107 -6.73749e-18" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="visual" pos="-0.11257 -0.0155 0.0187" quat="4.31775e-16 -0.707107 0.707107 -2.94392e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.11257 -0.0155 0.0187" quat="4.31775e-16 -0.707107 0.707107 -2.94392e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part upper_arm_so101_v1 -->
<geom type="mesh" class="visual" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
<geom type="mesh" class="collision" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
<!-- Link lower_arm -->
<body name="lower_arm" pos="-0.11257 -0.028 2.29417e-16" quat="1.34913e-15 3.69655e-16 -7.40756e-16 1">
<body name="lower_arm" pos="-0.11257 -0.028 2.46331e-16" quat="0.707107 -2.94392e-16 -3.85906e-16 0.707107">
<!-- Joint from upper_arm to lower_arm -->
<joint axis="0 0 1" name="3" type="hinge" range="-3.2288591161895077 0.08726646259971825" class="sts3215"/>
<joint axis="0 0 1" name="3" type="hinge" range="-1.7453292519943295 1.5707963267948966" class="sts3215"/>
<inertial pos="-0.0980701 0.00324376 0.0182831" mass="0.104" fullinertia="2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08"/>
<!-- Part under_arm_so101_v1 -->
<geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
<!-- Part motor_holder_so101_wrist_v1 -->
<geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.018" quat="1.48409e-16 1 9.52363e-16 -5.84602e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.018" quat="1.48409e-16 1 9.52363e-16 -5.84602e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.018" quat="3.3891e-16 -1 -1.9186e-15 6.33174e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.018" quat="3.3891e-16 -1 -1.9186e-15 6.33174e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<!-- Part sts3215_03a_v1_4 -->
<geom type="mesh" class="visual" pos="-0.1224 0.0052 0.0187" quat="1.69977e-15 -2.89309e-15 -1 6.11166e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.1224 0.0052 0.0187" quat="1.69977e-15 -2.89309e-15 -1 6.11166e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="visual" pos="-0.1224 0.0052 0.0187" quat="8.32667e-16 -1.56949e-15 -1 5.55112e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.1224 0.0052 0.0187" quat="8.32667e-16 -1.56949e-15 -1 5.55112e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Link wrist -->
<body name="wrist" pos="-0.1349 0.0052 3.21791e-16" quat="0.707107 -1.48288e-20 1.96685e-16 -0.707107">
<body name="wrist" pos="-0.1349 0.0052 1.65232e-16" quat="0.707107 1.31614e-15 9.90601e-17 -0.707107">
<!-- Joint from lower_arm to wrist -->
<joint axis="0 0 1" name="4" type="hinge" range="-1.658062789394615 1.6580627893946114" class="sts3215"/>
<joint axis="0 0 1" name="4" type="hinge" range="-1.6580627969561903 1.658062781833036" class="sts3215"/>
<inertial pos="-0.000103312 -0.0386143 0.0281156" mass="0.079" fullinertia="3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06"/>
<!-- Part sts3215_03a_no_horn_v1 -->
<geom type="mesh" class="visual" pos="0 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<geom type="mesh" class="collision" pos="0 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<geom type="mesh" class="visual" pos="5.55112e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<geom type="mesh" class="collision" pos="5.55112e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<!-- Part wrist_roll_pitch_so101_v2 -->
<geom type="mesh" class="visual" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
<geom type="mesh" class="collision" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
<!-- Link gripper -->
<body name="gripper" pos="-2.77556e-17 -0.0611 0.0181" quat="4.29003e-16 1.03623e-16 0.707107 0.707107">
<body name="gripper" pos="0 -0.0611 0.0181" quat="3.31663e-08 -3.31663e-08 -0.707107 -0.707107">
<!-- Joint from wrist to gripper -->
<joint axis="0 0 1" name="5" type="hinge" range="-2.792526803190913 2.7925268031909414" class="sts3215"/>
<joint axis="0 0 1" name="5" type="hinge" range="-2.7925268969992407 2.7925267093826136" class="sts3215"/>
<inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
<!-- Part sts3215_03a_v1_5 -->
<geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.59247e-15 1.57708e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.59247e-15 1.57708e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.58472e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.58472e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part wrist_roll_follower_so101_v1 -->
<geom type="mesh" class="visual" pos="5.55112e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
<geom type="mesh" class="collision" pos="5.55112e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
<!-- Frame gripper -->
<site group="3" name="gripper" pos="-0.0079 -0.000218121 -0.0981274" quat="0.5 -0.5 0.5 -0.5"/>
<!-- Link moving_jaw_so101_v1 -->
<body name="moving_jaw_so101_v1" pos="0.0202 0.0188 -0.0234" quat="0.707107 0.707107 1.41308e-15 -1.5309e-15">
<body name="moving_jaw_so101_v1" pos="0.0202 0.0188 -0.0234" quat="0.707107 0.707107 1.47485e-15 -6.52758e-15">
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint axis="0 0 1" name="6" type="hinge" range="-0.2617993877991352 1.7453292519943437" class="sts3215"/>
<joint axis="0 0 1" name="6" type="hinge" range="-0.17453292519943295 1.7453292519943295" class="sts3215"/>
<inertial pos="-0.00157495 -0.0300244 0.0192755" mass="0.012" fullinertia="6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07"/>
<!-- Part moving_jaw_so101_v1 -->
<geom type="mesh" class="visual" pos="2.77556e-17 -1.31397e-17 0.0189" quat="1 -0 2.22045e-16 4.44203e-31" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
<geom type="mesh" class="collision" pos="2.77556e-17 -1.31397e-17 0.0189" quat="1 -0 2.22045e-16 4.44203e-31" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
<geom type="mesh" class="visual" pos="-5.55112e-17 -1.94746e-17 0.0189" quat="1 -0 1.86338e-16 6.90343e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
<geom type="mesh" class="collision" pos="-5.55112e-17 -1.94746e-17 0.0189" quat="1 -0 1.86338e-16 6.90343e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
</body>
</body>
</body>
@@ -120,19 +121,19 @@
</body>
</worldbody>
<asset>
<mesh file="waveshare_mounting_plate_so101_v2.stl"/>
<mesh file="wrist_roll_follower_so101_v1.stl"/>
<mesh file="upper_arm_so101_v1.stl"/>
<mesh file="rotation_pitch_so101_v1.stl"/>
<mesh file="moving_jaw_so101_v1.stl"/>
<mesh file="sts3215_03a_v1.stl"/>
<mesh file="motor_holder_so101_wrist_v1.stl"/>
<mesh file="wrist_roll_follower_so101_v1.stl"/>
<mesh file="base_so101_v2.stl"/>
<mesh file="under_arm_so101_v1.stl"/>
<mesh file="wrist_roll_pitch_so101_v2.stl"/>
<mesh file="waveshare_mounting_plate_so101_v2.stl"/>
<mesh file="sts3215_03a_no_horn_v1.stl"/>
<mesh file="motor_holder_so101_base_v1.stl"/>
<mesh file="base_motor_holder_so101_v1.stl"/>
<mesh file="wrist_roll_pitch_so101_v2.stl"/>
<mesh file="moving_jaw_so101_v1.stl"/>
<mesh file="sts3215_03a_no_horn_v1.stl"/>
<mesh file="base_so101_v2.stl"/>
<mesh file="rotation_pitch_so101_v1.stl"/>
<mesh file="motor_holder_so101_wrist_v1.stl"/>
<mesh file="under_arm_so101_v1.stl"/>
<mesh file="upper_arm_so101_v1.stl"/>
<material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>

423
Simulation/SO101/so101_old_calib.urdf Normal file
View File

@@ -0,0 +1,423 @@
<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/bbd5da878b987933c7940f7d -->
<robot name="so101_old_calib">
<!-- Link base -->
<link name="base">
<inertial>
<origin xyz="0.020739 0.00204287 0.065966" rpy="0 0 0"/>
<mass value="0.147"/>
<inertia ixx="0.000136117" ixy="4.59787e-07" ixz="9.75275e-08" iyy="0.000114686" iyz="-4.97151e-06" izz="0.000130364"/>
</inertial>
<!-- Part base_motor_holder_so101_v1 -->
<visual>
<origin xyz="0.0206915 0.0221255 0.0300817" rpy="1.5708 -1.23909e-16 2.33147e-15"/>
<geometry>
<mesh filename="package://assets/base_motor_holder_so101_v1.stl"/>
</geometry>
<material name="base_motor_holder_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0206915 0.0221255 0.0300817" rpy="1.5708 -1.23909e-16 2.33147e-15"/>
<geometry>
<mesh filename="package://assets/base_motor_holder_so101_v1.stl"/>
</geometry>
</collision>
<!-- Part base_so101_v2 -->
<visual>
<origin xyz="0.0207909 0.0221255 0.0300817" rpy="1.5708 -0 0"/>
<geometry>
<mesh filename="package://assets/base_so101_v2.stl"/>
</geometry>
<material name="base_so101_v2_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0207909 0.0221255 0.0300817" rpy="1.5708 -0 0"/>
<geometry>
<mesh filename="package://assets/base_so101_v2.stl"/>
</geometry>
</collision>
<!-- Part sts3215_03a_v1 -->
<visual>
<origin xyz="0.0207909 -0.0105745 0.0761817" rpy="-2.20282e-15 2.77556e-17 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
<material name="sts3215_03a_v1_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0207909 -0.0105745 0.0761817" rpy="-2.20282e-15 2.77556e-17 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
<!-- Part waveshare_mounting_plate_so101_v2 -->
<visual>
<origin xyz="0.0205915 0.0467435 0.0798817" rpy="1.5708 -1.21716e-14 2.33147e-15"/>
<geometry>
<mesh filename="package://assets/waveshare_mounting_plate_so101_v2.stl"/>
</geometry>
<material name="waveshare_mounting_plate_so101_v2_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0205915 0.0467435 0.0798817" rpy="1.5708 -1.21716e-14 2.33147e-15"/>
<geometry>
<mesh filename="package://assets/waveshare_mounting_plate_so101_v2.stl"/>
</geometry>
</collision>
</link>
<!-- Frame base (dummy link + fixed joint) -->
<link name="base">
<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="base_frame" type="fixed">
<origin xyz="0.020791 0.0157608 0.0324817" rpy="-3.14159 -9.52796e-30 -2.64454e-46"/>
<parent link="base"/>
<child link="base"/>
<axis xyz="0 0 0"/>
</joint>
<!-- Link shoulder -->
<link name="shoulder">
<inertial>
<origin xyz="-0.0307604 -1.66727e-05 -0.0252713" rpy="0 0 0"/>
<mass value="0.100006"/>
<inertia ixx="8.3759e-05" ixy="7.55525e-08" ixz="-1.16342e-06" iyy="8.10403e-05" iyz="1.54663e-07" izz="2.39783e-05"/>
</inertial>
<!-- Part sts3215_03a_v1_2 -->
<visual>
<origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
<material name="sts3215_03a_v1_2_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
<!-- Part motor_holder_so101_base_v1 -->
<visual>
<origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_base_v1.stl"/>
</geometry>
<material name="motor_holder_so101_base_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_base_v1.stl"/>
</geometry>
</collision>
<!-- Part rotation_pitch_so101_v1 -->
<visual>
<origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 -0 0"/>
<geometry>
<mesh filename="package://assets/rotation_pitch_so101_v1.stl"/>
</geometry>
<material name="rotation_pitch_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 -0 0"/>
<geometry>
<mesh filename="package://assets/rotation_pitch_so101_v1.stl"/>
</geometry>
</collision>
</link>
<!-- Link upper_arm -->
<link name="upper_arm">
<inertial>
<origin xyz="-0.00838224 0.0898471 0.0184089" rpy="0 0 0"/>
<mass value="0.103"/>
<inertia ixx="0.000147318" ixy="1.97819e-05" ixz="8.97326e-09" iyy="4.08002e-05" iyz="4.03016e-08" izz="0.000142487"/>
</inertial>
<!-- Part sts3215_03a_v1_3 -->
<visual>
<origin xyz="-0.0155 0.11257 0.0187" rpy="-3.14159 -3.22659e-15 -3.14159"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
<material name="sts3215_03a_v1_3_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.0155 0.11257 0.0187" rpy="-3.14159 -3.22659e-15 -3.14159"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
<!-- Part upper_arm_so101_v1 -->
<visual>
<origin xyz="0.012 0.065085 0.0182" rpy="3.14159 -1.22125e-15 -1.5708"/>
<geometry>
<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
</geometry>
<material name="upper_arm_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.012 0.065085 0.0182" rpy="3.14159 -1.22125e-15 -1.5708"/>
<geometry>
<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
</geometry>
</collision>
</link>
<!-- Link lower_arm -->
<link name="lower_arm">
<inertial>
<origin xyz="-0.00324376 -0.0980701 0.0182831" rpy="0 0 0"/>
<mass value="0.104"/>
<inertia ixx="0.000159844" ixy="-7.41152e-06" ixz="4.90188e-08" iyy="2.87438e-05" iyz="1.26409e-06" izz="0.00014529"/>
</inertial>
<!-- Part under_arm_so101_v1 -->
<visual>
<origin xyz="0.032 -0.0648499 0.0182" rpy="3.14159 -1.11022e-16 1.5708"/>
<geometry>
<mesh filename="package://assets/under_arm_so101_v1.stl"/>
</geometry>
<material name="under_arm_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.032 -0.0648499 0.0182" rpy="3.14159 -1.11022e-16 1.5708"/>
<geometry>
<mesh filename="package://assets/under_arm_so101_v1.stl"/>
</geometry>
</collision>
<!-- Part motor_holder_so101_wrist_v1 -->
<visual>
<origin xyz="0.032 -0.0648499 0.018" rpy="-3.14159 -1.11022e-16 1.5708"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
</geometry>
<material name="motor_holder_so101_wrist_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.032 -0.0648499 0.018" rpy="-3.14159 -1.11022e-16 1.5708"/>
<geometry>
<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
</geometry>
</collision>
<!-- Part sts3215_03a_v1_4 -->
<visual>
<origin xyz="-0.0052 -0.1224 0.0187" rpy="3.14159 -8.24341e-15 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
<material name="sts3215_03a_v1_4_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.0052 -0.1224 0.0187" rpy="3.14159 -8.24341e-15 -1.5708"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
</link>
<!-- Link wrist -->
<link name="wrist">
<inertial>
<origin xyz="-0.000103312 -0.0386143 0.0281156" rpy="0 0 0"/>
<mass value="0.079"/>
<inertia ixx="3.68263e-05" ixy="1.7893e-08" ixz="-5.28128e-08" iyy="2.5391e-05" iyz="3.6412e-06" izz="2.1e-05"/>
</inertial>
<!-- Part sts3215_03a_no_horn_v1 -->
<visual>
<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
</geometry>
<material name="sts3215_03a_no_horn_v1_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
</geometry>
</collision>
<!-- Part wrist_roll_pitch_so101_v2 -->
<visual>
<origin xyz="-2.77556e-17 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/wrist_roll_pitch_so101_v2.stl"/>
</geometry>
<material name="wrist_roll_pitch_so101_v2_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-2.77556e-17 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/wrist_roll_pitch_so101_v2.stl"/>
</geometry>
</collision>
</link>
<!-- Link gripper -->
<link name="gripper">
<inertial>
<origin xyz="0.000213627 0.000245138 -0.025187" rpy="0 0 0"/>
<mass value="0.087"/>
<inertia ixx="2.75087e-05" ixy="-3.35241e-07" ixz="-5.7352e-06" iyy="4.33657e-05" iyz="-5.17847e-08" izz="3.45059e-05"/>
</inertial>
<!-- Part sts3215_03a_v1_5 -->
<visual>
<origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.55112e-17 -1.38213e-14"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
<material name="sts3215_03a_v1_5_material">
<color rgba="0.627451 0.627451 0.627451 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.55112e-17 -1.38213e-14"/>
<geometry>
<mesh filename="package://assets/sts3215_03a_v1.stl"/>
</geometry>
</collision>
<!-- Part wrist_roll_follower_so101_v1 -->
<visual>
<origin xyz="1.11022e-16 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -6.22813e-24"/>
<geometry>
<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
</geometry>
<material name="wrist_roll_follower_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="1.11022e-16 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -6.22813e-24"/>
<geometry>
<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
</geometry>
</collision>
</link>
<!-- Frame gripper (dummy link + fixed joint) -->
<link name="gripper">
<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="gripper_frame" type="fixed">
<origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-1.5708 4.93038e-32 -1.5708"/>
<parent link="gripper"/>
<child link="gripper"/>
<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"/>
<inertia ixx="6.61427e-06" ixy="-3.19807e-07" ixz="-5.90717e-09" iyy="1.89032e-06" iyz="-1.09945e-07" izz="5.28738e-06"/>
</inertial>
<!-- Part moving_jaw_so101_v1 -->
<visual>
<origin xyz="0 1.89351e-17 0.0189" rpy="9.53145e-17 -1.20743e-23 0"/>
<geometry>
<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
</geometry>
<material name="moving_jaw_so101_v1_material">
<color rgba="0.964706 0.964706 0.952941 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 1.89351e-17 0.0189" rpy="9.53145e-17 -1.20743e-23 0"/>
<geometry>
<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint name="6" type="revolute">
<origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -7.91661e-17 -1.0396e-16"/>
<parent link="gripper"/>
<child link="moving_jaw_so101_v1"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
</joint>
<!-- Joint from wrist to gripper -->
<joint name="5" type="revolute">
<origin xyz="2.77556e-17 -0.0611 0.0181" rpy="1.5708 -9.38083e-08 3.14159"/>
<parent link="wrist"/>
<child link="gripper"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-2.79253" upper="2.79253"/>
</joint>
<!-- Joint from lower_arm to wrist -->
<joint name="4" type="revolute">
<origin xyz="-0.0052 -0.1349 3.40439e-16" rpy="-1.41553e-15 4.91611e-15 7.56157e-09"/>
<parent link="lower_arm"/>
<child link="wrist"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
</joint>
<!-- Joint from upper_arm to lower_arm -->
<joint name="3" type="revolute">
<origin xyz="-0.028 0.11257 1.24466e-16" rpy="1.89432e-15 -3.22659e-15 -3.14159"/>
<parent link="upper_arm"/>
<child link="lower_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-0.174533" upper="3.14159"/>
</joint>
<!-- Joint from shoulder to upper_arm -->
<joint name="2" type="revolute">
<origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5708 0"/>
<parent link="shoulder"/>
<child link="upper_arm"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.31613" upper="0.174533"/>
</joint>
<!-- Joint from base to shoulder -->
<joint name="1" type="revolute">
<origin xyz="0.0207909 -0.0230745 0.0948817" rpy="-3.14159 6.03684e-16 1.5708"/>
<parent link="base"/>
<child link="shoulder"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
</joint>
<!-- Additional joints_properties.xml -->
<default>
<default class="sts3215">
<geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/>
</default>
<default class="backlash">
<!-- +/- 0.5° of backlash -->
<joint damping="0.01" frictionloss="0" armature="0.01" limited="true" range="-0.008726646259971648 0.008726646259971648"/>
</default>
</default>
</robot>

160
Simulation/SO101/so101_old_calib.xml Normal file
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@@ -0,0 +1,160 @@
<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/bbd5da878b987933c7940f7d -->
<mujoco model="so101_old_calib">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<default>
<default class="so101_old_calib">
<joint frictionloss="0.1" armature="0.005"/>
<position kp="50" dampratio="1"/>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3"/>
</default>
</default>
</default>
<!-- Additional joints_properties.xml -->
<default>
<default class="sts3215">
<geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/>
</default>
<default class="backlash">
<!-- +/- 0.5° of backlash -->
<joint damping="0.01" frictionloss="0" armature="0.01" limited="true" range="-0.008726646259971648 0.008726646259971648"/>
</default>
</default>
<worldbody>
<!-- Link base -->
<body name="base" pos="0 0 0" quat="1 0 0 0" childclass="so101_old_calib">
<inertial pos="0.020739 0.00204287 0.065966" mass="0.147" fullinertia="0.000136117 0.000114686 0.000130364 4.59787e-07 9.75275e-08 -4.97151e-06"/>
<!-- Part base_motor_holder_so101_v1 -->
<geom type="mesh" class="visual" pos="0.0206915 0.0221255 0.0300817" quat="0.707107 0.707107 7.85046e-16 8.68107e-16" mesh="base_motor_holder_so101_v1" material="base_motor_holder_so101_v1_material"/>
<!-- Part base_so101_v2 -->
<geom type="mesh" class="visual" pos="0.0207909 0.0221255 0.0300817" quat="0.707107 0.707107 -0 -0" mesh="base_so101_v2" material="base_so101_v2_material"/>
<!-- Part sts3215_03a_v1 -->
<geom type="mesh" class="visual" pos="0.0207909 -0.0105745 0.0761817" quat="0.707107 -7.69919e-16 8.95976e-16 -0.707107" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part waveshare_mounting_plate_so101_v2 -->
<geom type="mesh" class="visual" pos="0.0205915 0.0467435 0.0798817" quat="0.707107 0.707107 -3.34318e-15 5.1276e-15" mesh="waveshare_mounting_plate_so101_v2" material="waveshare_mounting_plate_so101_v2_material"/>
<!-- Frame base -->
<site group="3" name="base" pos="0.020791 0.0157608 0.0324817" quat="0 1 0 0"/>
<!-- Link shoulder -->
<body name="shoulder" pos="0.0207909 -0.0230745 0.0948817" quat="7.88629e-16 -0.707107 -0.707107 7.69003e-16">
<!-- Joint from base to shoulder -->
<joint axis="0 0 1" name="1" type="hinge" range="-1.9198621771937616 1.9198621771937634" class="sts3215"/>
<inertial pos="-0.0307604 -1.66727e-05 -0.0252713" mass="0.100006" fullinertia="8.3759e-05 8.10403e-05 2.39783e-05 7.55525e-08 -1.16342e-06 1.54663e-07"/>
<!-- Part sts3215_03a_v1_2 -->
<geom type="mesh" class="visual" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part motor_holder_so101_base_v1 -->
<geom type="mesh" class="visual" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
<!-- Part rotation_pitch_so101_v1 -->
<geom type="mesh" class="visual" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
<geom type="mesh" class="collision" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
<!-- Link upper_arm -->
<body name="upper_arm" pos="-0.0303992 -0.0182778 -0.0542" quat="0.5 -0.5 0.5 0.5">
<!-- Joint from shoulder to upper_arm -->
<joint axis="0 0 1" name="2" type="hinge" range="-3.31612557878923 0.1745329251994294" class="sts3215"/>
<inertial pos="-0.00838224 0.0898471 0.0184089" mass="0.103" fullinertia="0.000147318 4.08002e-05 0.000142487 1.97819e-05 8.97326e-09 4.03016e-08"/>
<!-- Part sts3215_03a_v1_3 -->
<geom type="mesh" class="visual" pos="-0.0155 0.11257 0.0187" quat="4.91381e-16 3.1572e-16 -1 6.21545e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0155 0.11257 0.0187" quat="4.91381e-16 3.1572e-16 -1 6.21545e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part upper_arm_so101_v1 -->
<geom type="mesh" class="visual" pos="0.012 0.065085 0.0182" quat="5.77339e-30 0.707107 -0.707107 -1.0267e-29" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
<geom type="mesh" class="collision" pos="0.012 0.065085 0.0182" quat="5.77339e-30 0.707107 -0.707107 -1.0267e-29" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
<!-- Link lower_arm -->
<body name="lower_arm" pos="-0.028 0.11257 1.24466e-16" quat="2.34133e-16 -3.33458e-16 -3.62568e-16 -1">
<!-- Joint from upper_arm to lower_arm -->
<joint axis="0 0 1" name="3" type="hinge" range="-0.17453292519941607 3.14159265358981" class="sts3215"/>
<inertial pos="-0.00324376 -0.0980701 0.0182831" mass="0.104" fullinertia="0.000159844 2.87438e-05 0.00014529 -7.41152e-06 4.90188e-08 1.26409e-06"/>
<!-- Part under_arm_so101_v1 -->
<geom type="mesh" class="visual" pos="0.032 -0.0648499 0.0182" quat="7.0875e-26 0.707107 0.707107 -7.0875e-26" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
<geom type="mesh" class="collision" pos="0.032 -0.0648499 0.0182" quat="7.0875e-26 0.707107 0.707107 -7.0875e-26" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
<!-- Part motor_holder_so101_wrist_v1 -->
<geom type="mesh" class="visual" pos="0.032 -0.0648499 0.018" quat="1.01856e-15 -0.707107 -0.707107 2.26153e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<geom type="mesh" class="collision" pos="0.032 -0.0648499 0.018" quat="1.01856e-15 -0.707107 -0.707107 2.26153e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
<!-- Part sts3215_03a_v1_4 -->
<geom type="mesh" class="visual" pos="-0.0052 -0.1224 0.0187" quat="1.64704e-15 0.707107 -0.707107 1.29806e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="-0.0052 -0.1224 0.0187" quat="1.64704e-15 0.707107 -0.707107 1.29806e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Link wrist -->
<body name="wrist" pos="-0.0052 -0.1349 3.40439e-16" quat="1 -3.94784e-16 1.66357e-15 3.78078e-09">
<!-- Joint from lower_arm to wrist -->
<joint axis="0 0 1" name="4" type="hinge" range="-1.6580627969561947 1.6580627818330316" class="sts3215"/>
<inertial pos="-0.000103312 -0.0386143 0.0281156" mass="0.079" fullinertia="3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06"/>
<!-- Part sts3215_03a_no_horn_v1 -->
<geom type="mesh" class="visual" pos="0 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<geom type="mesh" class="collision" pos="0 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
<!-- Part wrist_roll_pitch_so101_v2 -->
<geom type="mesh" class="visual" pos="-2.77556e-17 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
<geom type="mesh" class="collision" pos="-2.77556e-17 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
<!-- Link gripper -->
<body name="gripper" pos="2.77556e-17 -0.0611 0.0181" quat="3.31663e-08 -3.31663e-08 -0.707107 -0.707107">
<!-- Joint from wrist to gripper -->
<joint axis="0 0 1" name="5" type="hinge" range="-2.7925268969992394 2.792526709382615" class="sts3215"/>
<inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
<!-- Part sts3215_03a_v1_5 -->
<geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.60424e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<geom type="mesh" class="collision" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.60424e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
<!-- Part wrist_roll_follower_so101_v1 -->
<geom type="mesh" class="visual" pos="1.11022e-16 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
<geom type="mesh" class="collision" pos="1.11022e-16 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
<!-- Frame gripper -->
<site group="3" name="gripper" pos="-0.0079 -0.000218121 -0.0981274" quat="0.5 -0.5 0.5 -0.5"/>
<!-- Link moving_jaw_so101_v1 -->
<body name="moving_jaw_so101_v1" pos="0.0202 0.0188 -0.0234" quat="0.707107 0.707107 0 -4.88629e-17">
<!-- Joint from gripper to moving_jaw_so101_v1 -->
<joint axis="0 0 1" name="6" type="hinge" range="-0.17453292519941963 1.7453292519943429" class="sts3215"/>
<inertial pos="-0.00157495 -0.0300244 0.0192755" mass="0.012" fullinertia="6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07"/>
<!-- Part moving_jaw_so101_v1 -->
<geom type="mesh" class="visual" pos="0 1.89351e-17 0.0189" quat="1 0 1.11022e-16 8.14512e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
<geom type="mesh" class="collision" pos="0 1.89351e-17 0.0189" quat="1 0 1.11022e-16 8.14512e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<asset>
<mesh file="motor_holder_so101_wrist_v1.stl"/>
<mesh file="moving_jaw_so101_v1.stl"/>
<mesh file="wrist_roll_follower_so101_v1.stl"/>
<mesh file="rotation_pitch_so101_v1.stl"/>
<mesh file="base_so101_v2.stl"/>
<mesh file="motor_holder_so101_base_v1.stl"/>
<mesh file="upper_arm_so101_v1.stl"/>
<mesh file="sts3215_03a_v1.stl"/>
<mesh file="under_arm_so101_v1.stl"/>
<mesh file="waveshare_mounting_plate_so101_v2.stl"/>
<mesh file="base_motor_holder_so101_v1.stl"/>
<mesh file="wrist_roll_pitch_so101_v2.stl"/>
<mesh file="sts3215_03a_no_horn_v1.stl"/>
<material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
</asset>
<actuator>
<position class="sts3215" name="1" joint="1" inheritrange="1"/>
<position class="sts3215" name="2" joint="2" inheritrange="1"/>
<position class="sts3215" name="3" joint="3" inheritrange="1"/>
<position class="sts3215" name="4" joint="4" inheritrange="1"/>
<position class="sts3215" name="5" joint="5" inheritrange="1"/>
<position class="sts3215" name="6" joint="6" inheritrange="1"/>
</actuator>
<equality/>
</mujoco>