SO101 new calib vs SO101 old calib vs So101 custom calib

[paulpacaud]

This issue relates to the SO101_new_calib.urdf5, whether it is possible to get a similar SO100_new_calib.urdf5 for SO100 users, and finally, how each user can customize the calib of the urdf to match exactly the calibration they manually did which may slightly differs from the one in the urdf.

I use a SO100, when I perform the forward kinematics with the SO101/so101_new_calib.urdf I get a correct-ish end effector position. However, using the SO100/so100.urdf results in an incorrect end-effector position.
It is quite counter-intuitive as I use the SO100, though I understand why it works: I calibrated my robot by putting it in its middle position so my calibration convention matches the one of the "_new_calib.urdf" (that is defined in the repo as "Each joint's virtual zero is set to the middle of its joint range")
But which difference will there be by using the "SO101" urdf instead of the "SO100" ? Won't it lead to imprecision? If so, is it possible to provide the SO100_new_calib file?

Another question is: each user calibrates their robot, which can lead to small differences in where the "zero" of the joints are across one user to another. In my case, I think the urdf_new_calib convention slightly differs from mine, which leads to slightly imprecise forward kinematics. How can I modify the urdf to match my actual calibration convention? This would make the forward_kinematics more precise.