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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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5 changes: 5 additions & 0 deletions robotstudio_so101/CHANGELOG.md
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Expand Up @@ -2,6 +2,11 @@

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

## [2026-10-10]

- Limit positive elbow flexion to 1.45 rad, matching the actuator control
limit, to avoid shoulder collisions near the previous 1.69 rad endpoint.

## [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 1.45" class="sts3215"/>

@btaba btaba Oct 16, 2026

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sur 1.69 hits contact but 1.45 doesn't have the links parallel with each other, can you push this to the absolute limit before it hits contact? thank you!

<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 -->
Expand Down Expand Up @@ -254,7 +254,7 @@
<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 1.45"/>
<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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