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SO100 new coordinate system? #24

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opened 2025-07-08 08:35:07 -04:00 by AtHeartEngineer · 0 comments
AtHeartEngineer commented 2025-07-08 08:35:07 -04:00
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Originally created by @DipFlip on 6/9/2025

I updated to the latest lerobot version and performed the new calibration (full range scans instead of holding 3 poses). After that, the angles I read from the motors don't match the URDF joints anymore, like angle 0 of joint "2" used to be the rest position but now it's the mid position. It seems like the angles have changed so now angle 0 is the mid position of each joint. Should the URDF be updated as well to reflect that?

*Originally created by @DipFlip on 6/9/2025* I updated to the latest lerobot version and performed the new calibration (full range scans instead of holding 3 poses). After that, the angles I read from the motors don't match the URDF joints anymore, like angle 0 of joint "2" used to be the rest position but now it's the mid position. It seems like the angles have changed so now angle 0 is the mid position of each joint. Should the URDF be updated as well to reflect that?
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Reference: github/SO-ARM100#24
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