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[Feature] Improved/fixed and somewhat tuned URDF for simulation #31

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opened 2025-07-08 08:35:14 -04:00 by AtHeartEngineer · 0 comments
AtHeartEngineer commented 2025-07-08 08:35:14 -04:00
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Originally created by @StoneT2000 on 5/20/2025

I made the following changes to the original URDF in this repo, addressing #54

  • Fixed joint limits to reflect real world behavior
  • Fixed joint tags from continuous to revolute which permit joint limits
  • Fixed joint directions and orientations to match the real robot's joints
  • removed spaces in link names
  • manual decomposition of gripper link collision meshes into simpler meshes for better simulation

I tested this URDF via our lab's simulator (maniskill), you can see what the visual and collision meshes look like: https://maniskill.readthedocs.io/en/latest/robots/so100/index.html

There is also some additional files provided which can be useful for motion planning. The .convex.stl extension of files.

*Originally created by @StoneT2000 on 5/20/2025* I made the following changes to the original URDF in this repo, addressing #54 - Fixed joint limits to reflect real world behavior - Fixed joint tags from continuous to revolute which permit joint limits - Fixed joint directions and orientations to match the real robot's joints - removed spaces in link names - manual decomposition of gripper link collision meshes into simpler meshes for better simulation I tested this URDF via our lab's simulator (maniskill), you can see what the visual and collision meshes look like: https://maniskill.readthedocs.io/en/latest/robots/so100/index.html There is also some additional files provided which can be useful for motion planning. The .convex.stl extension of files.
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Reference: github/SO-ARM100#31
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