feat: add SO101 support and reference pose visualizer#22
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The SO101 URDF uses semantic joint names (shoulder_pan, shoulder_lift,
etc.) directly, while SO100 uses numeric names ("1"–"6"). This caused
all joints to fail mapping when switching to SO101.
Three changes in PyBulletVisualizer:
- _map_joints: add fallback to direct semantic name matching after the
numeric URDF_TO_INTERNAL_NAME_MAP lookup, so SO101 joints resolve
correctly without modifying config
- _find_end_effector: accept a list of candidate link names
(Fixed_Jaw_tip, gripper_frame_link, moving_jaw_so101_v1_link) instead
of a single hardcoded name, covering SO100 and SO101 end-effectors
- setup: detect SO101 by URDF filename and apply a +90° Z-rotation as
base orientation so arms face +Y, matching the SO100 visual layout
SO100 behaviour is unchanged (numeric mapping succeeds on first pass,
identity orientation applied, Fixed_Jaw_tip found as before).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
New standalone script to visually validate poses stored in reference_poses.json using the same PyBullet+URDF setup as production. Features: - Loads both left and right arm poses from the JSON file - Applies each pose to the corresponding robot instance in PyBullet GUI - Overlays arm name, pose index, and per-joint angles as debug text in the 3D window - Manual mode (default): press Enter to advance between poses - Auto mode (--auto): cycles automatically with configurable delay - --urdf flag to select any supported URDF (SO100 default, SO101 works with the base-orientation fix applied in the companion commit) - Loops continuously until Ctrl+C; disconnects PyBullet cleanly on exit Usage: python visualize_poses.py python visualize_poses.py --urdf URDF/SO101/so101_new_calib.urdf python visualize_poses.py --auto --delay 2.5 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Changes
SO101 URDF support in PyBulletVisualizer
_map_joints(): fallback to direct semantic name matching whennumeric names ("1"–"6") are not found — allows SO101 URDFs which
already use
shoulder_pan,shoulder_lift, etc._find_end_effector(): checks a list of candidate link names(SO100:
Fixed_Jaw_tip, SO101:gripper_frame_link)setup(): auto-detects SO101 by filename and applies +90° Z-rotationso arms face +Y, matching the SO100 visual layout
New: visualize_poses.py
Standalone script to validate
reference_poses.jsonposes visuallyusing the same PyBullet+URDF setup as production.
Supports
--urdf,--auto,--delayflags. Works with SO100 and SO101.Tested with
URDF/SO100/so100.urdfandURDF/SO101/so101_new_calib.urdf.