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Prevent SO101 elbow self-collision within allowed joint range #332

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Prevent SO101 elbow self-collision within allowed joint range #332

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7169dac
Keep SO101 elbow joint and actuator limits clear of self-collision
sylvesterkaczmarek Oct 10, 2026
8ca89ed
Keep SO101 regression out of generic model tests
sylvesterkaczmarek Oct 15, 2026
1e4d1a4
Set SO101 elbow limit just below first contact
sylvesterkaczmarek Oct 19, 2026
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6 changes: 6 additions & 0 deletions robotstudio_so101/CHANGELOG.md
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Expand Up @@ -2,6 +2,12 @@

All notable changes to this model will be documented in this file.

## [2026-10-10]

- Limit positive elbow flexion to 1.474 rad, matching the actuator control
limit. The first shoulder/gripper contact in the zero-pose sweep occurs
at approximately 1.47401 rad (MuJoCo 3.15.0).

## [2026-09-27]

- Fix the `wrist_roll` joint range upper limit to match the source and the actuator `ctrlrange`.
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4 changes: 2 additions & 2 deletions robotstudio_so101/so101.xml
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Expand Up @@ -133,7 +133,7 @@
<body name="lower_arm" pos="-0.11257 -0.028 0" quat="1 0 0 1">
<!-- Joint from upper_arm to lower_arm -->
<!-- Note: 5-degree calibration offset applied to joint range -->
<joint axis="0 0 1" name="elbow_flex" type="hinge" range="-1.69 1.69" class="sts3215"/>
<joint axis="0 0 1" name="elbow_flex" type="hinge" range="-1.69 1.474" class="sts3215"/>
<inertial pos="-0.098070 0.0032438 0.018283" mass="0.104"
fullinertia="2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08"/>
<!-- Part under_arm_so101_v1 -->
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<actuator>
<position class="sts3215" name="shoulder_pan" joint="shoulder_pan" ctrlrange="-1.91986 1.91986"/>
<position class="sts3215" name="shoulder_lift" joint="shoulder_lift" ctrlrange="-1.74533 1.74533"/>
<position class="sts3215" name="elbow_flex" joint="elbow_flex" ctrlrange="-1.69 1.69"/>
<position class="sts3215" name="elbow_flex" joint="elbow_flex" ctrlrange="-1.69 1.474"/>
<position class="sts3215" name="wrist_flex" joint="wrist_flex" ctrlrange="-1.65806 1.65806"/>
<position class="sts3215" name="wrist_roll" joint="wrist_roll" ctrlrange="-2.74385 2.84121"/>
<position class="sts3215" name="gripper" joint="gripper" ctrlrange="-0.17453 1.74533"/>
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