Update SO100 URDF to match ROS 2 Conventions, while being ROS 2 agnostic#157
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adityakamath wants to merge 6 commits intoTheRobotStudio:mainfrom
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Update SO100 URDF to match ROS 2 Conventions, while being ROS 2 agnostic#157adityakamath wants to merge 6 commits intoTheRobotStudio:mainfrom
adityakamath wants to merge 6 commits intoTheRobotStudio:mainfrom
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ROS 2 convention (REP-103) expects +Z as the primary rotation axis for yaw joints and forward-axis alignment. The original OnShape export used Y-axis joints with frame rotations baked into joint origins, making integration with ros2_control and MoveIt non-standard. Frame convention changes: - Add Rz(π/2) visual rotation to base link to align meshes with ROS forward (+X) while keeping the joint frame Z-up - Add Rx(π/2)+Rz(π/2) visual rotation to shoulder link so the mesh aligns with the reoriented shoulder frame - Reorient shoulder inertial tensor (swap iyy/izz) to match - Change shoulder_pan axis from Y to Z — the standard yaw axis in REP-103 — and remove the compensating joint rpy - Transform shoulder_pan origin from (0,−0.0452,0.0165) to (0.0452,0,0.0165) to absorb the removed Rx(π/2) rotation - Absorb Rz(π/2) into shoulder_lift rpy so downstream joints remain consistent without additional frame changes Joint parameter updates: - Effort limits: 35→2.942 N·m (actual STS3215 stall torque) - Velocity limits: 1→5.216 rad/s (STS3215 no-load speed) Cleanup: - Remove ROS 1 transmission blocks
Removed comments regarding position mode and hardware specifications.
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Similar updates to SO101 are in progress, but it includes a MuJoCo file that should also be updated and then tested. |
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ROS 2 convention (REP-103) expects +Z as the primary rotation axis for yaw joints and forward-axis alignment. The original OnShape export used Y-axis joints with frame rotations baked into joint origins, making integration with ros2_control and MoveIt non-standard. SO100 URDF fixed to satisfy ROS 2 conventions. I also added effort and velocity limits matching the 12v STS3215 motors.
Joint parameter updates:
Cleanup: