github/SO-ARM100
1
1
Fork 0
mirror of https://github.com/TheRobotStudio/SO-ARM100.git synced 2026-01-08 23:08:03 -05:00
Code Issues 44 Packages Projects Releases Wiki Activity

Update URDF #35

New Issue
Closed
opened 2025-07-08 08:35:17 -04:00 by AtHeartEngineer · 0 comments
AtHeartEngineer commented 2025-07-08 08:35:17 -04:00
Owner
Copy Link

Originally created by @adityakamath on 5/13/2025

Fixed SO101 URDF:

  • Removed duplicate / unnecessary links
  • Removed invalid joint properties tags (still present in joint_properties.xml, but invalid for the URDF)
  • Changed material colors just for fun (now Yellow matching the LeRobot logo)
  • Added tags for ros_control/ros2_control hardware interface
  • Updated mesh file paths from package://... (which needs ROS) to relative paths
image

(Screenshot of Rerun URDF visualization)

Added SO100 URDF:

image

(Screenshot of Rerun URDF visualization)

Removed SLDASM files:

  • They weren't relevant anymore, so I removed them.
*Originally created by @adityakamath on 5/13/2025* Fixed SO101 URDF: - Removed duplicate / unnecessary links - Removed invalid <default> joint properties tags (still present in joint_properties.xml, but invalid for the URDF) - Changed material colors just for fun (now Yellow matching the LeRobot logo) - Added tags for ros_control/ros2_control hardware interface - Updated mesh file paths from `package://...` (which needs ROS) to relative paths <img width="604" alt="image" src="https://github.com/user-attachments/assets/09573802-6efa-47d8-ad51-3d1e18b64729" /> (Screenshot of Rerun URDF visualization) Added SO100 URDF: - Reused URDF from https://github.com/timqian/bambot/tree/playground-for-so-arm100/playground/public/URDF which I've been using successfully in the past - Reformatted to make it consistent with the SO101 URDF - Also changed colors <img width="652" alt="image" src="https://github.com/user-attachments/assets/b6a262fd-07a2-4780-a500-8d9d2d2da65c" /> (Screenshot of Rerun URDF visualization) Removed SLDASM files: - They weren't relevant anymore, so I removed them.
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
Clear labels
bug
documentation
documentation
documentation
enhancement
enhancement
enhancement
enhancement
enhancement
enhancement
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
AtHeartEngineer
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: github/SO-ARM100#35
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?