Improved URDF #63

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AtHeartEngineer · 2025-07-08T08:35:45-04:00

AtHeartEngineer commented

2025-07-08 08:35:45 -04:00

Originally created by @StoneT2000 on 4/3/2025

thanks for the great low-cost SO100 arm, been having a lot a fun playing with it recently.

I have interest in doing sim2real / simulation heavy experiments and found that the URDF in this repo is not well defined (missing joint limits / some joint axes are inverted, and lack of decomposed collision meshes)

I have a fixed version in my own github repo, happy to make a PR for it here. I saw some people having trouble importing it into their own sims on discord earlier.

*Originally created by @StoneT2000 on 4/3/2025* thanks for the great low-cost SO100 arm, been having a lot a fun playing with it recently. I have interest in doing sim2real / simulation heavy experiments and found that the URDF in this repo is not well defined (missing joint limits / some joint axes are inverted, and lack of decomposed collision meshes) I have a fixed version in my own github repo, happy to make a PR for it here. I saw some people having trouble importing it into their own sims on discord earlier.

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Reference: github/SO-ARM100#63