From 496500fc429864c7e36aaa2cfdb53a3906917bd5 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 16 Oct 2026 00:58:20 +0900
Subject: [PATCH] Rotate the opposing V1 finger mesh while keeping link axes
 aligned

---
 .../parallel_link/config/inertials.yaml       | 13 +++-------
 .../parallel_link/config/kinematics_link.yaml |  2 +-
 .../openarm_parallel_gripper.xacro            |  6 ++---
 .../robot/openarm_v1.0/urdf/example/v1.urdf   | 24 +++++++++----------
 4 files changed, 19 insertions(+), 26 deletions(-)

diff --git a/assets/end_effector/parallel_link/config/inertials.yaml b/assets/end_effector/parallel_link/config/inertials.yaml
index b1d7576f..7434fbc7 100644
--- a/assets/end_effector/parallel_link/config/inertials.yaml
+++ b/assets/end_effector/parallel_link/config/inertials.yaml
@@ -29,7 +29,7 @@ hand:
     xz: 0.0
     yz: 0.0
 
-left_finger:
+left_finger: &finger
   origin:
     x: 0.0064528
     y: 0.017020
@@ -47,18 +47,11 @@ left_finger:
     yz: 0.0
 
 right_finger:
+  <<: *finger
   origin:
-    x: 0.0064528
+    x: -0.0064528
     y: -0.017020
     z: 0.0219685
     roll: 0
     pitch: 0
     yaw: 0
-  mass: 0.03602545343277134
-  inertia:
-    xx: 2.3749999999999997e-06
-    yy: 2.3749999999999997e-06
-    zz: 7.5e-07
-    xy: 0.0
-    xz: 0.0
-    yz: 0.0
diff --git a/assets/end_effector/parallel_link/config/kinematics_link.yaml b/assets/end_effector/parallel_link/config/kinematics_link.yaml
index de798194..d6cee252 100644
--- a/assets/end_effector/parallel_link/config/kinematics_link.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics_link.yaml
@@ -37,4 +37,4 @@ right_finger:
     z: -0.673001
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
+    yaw: 3.141592653589793
diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index 37761512..2feb03ea 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -70,13 +70,13 @@ limitations under the License.
       <visual name="${ee_prefix}right_finger_visual">
         <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
         <geometry>
-          <mesh filename="${ee_mesh_root}/visual/finger.dae" scale="0.001 -0.001 0.001"/>
+          <mesh filename="${ee_mesh_root}/visual/finger.dae" scale="0.001 0.001 0.001"/>
         </geometry>
       </visual>
       <collision name="${ee_prefix}right_finger_collision">
         <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
         <geometry>
-          <mesh filename="${ee_mesh_root}/collision/finger.stl" scale="0.001 -0.001 0.001" />
+          <mesh filename="${ee_mesh_root}/collision/finger.stl" scale="0.001 0.001 0.001" />
         </geometry>
       </collision>
       <xacro:ee-inertials name="right_finger"/>
@@ -99,7 +99,7 @@ limitations under the License.
         <axis xyz="0 1 0" />
         <limit effort="${finger_limits.effort}" lower="${finger_limits.lower}"
                upper="${finger_limits.upper}" velocity="${finger_limits.velocity}" />
-        <mimic joint="${ee_prefix}finger_joint1" />
+        <mimic joint="${ee_prefix}finger_joint1" multiplier="1" offset="0" />
     </joint>
 
   </xacro:macro>
diff --git a/assets/robot/openarm_v1.0/urdf/example/v1.urdf b/assets/robot/openarm_v1.0/urdf/example/v1.urdf
index facb6bd4..7e216537 100644
--- a/assets/robot/openarm_v1.0/urdf/example/v1.urdf
+++ b/assets/robot/openarm_v1.0/urdf/example/v1.urdf
@@ -521,19 +521,19 @@ limitations under the License.
   </link>
   <link name="openarm_left_right_finger">
     <visual name="openarm_left_right_finger_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 -0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_right_finger_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 -0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
+      <origin rpy="0 0 0" xyz="-0.0064528 -0.01702 0.0219685"/>
       <mass value="0.03602545343277134"/>
       <inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" izz="7.5e-07"/>
     </inertial>
@@ -551,7 +551,7 @@ limitations under the License.
     <origin rpy="0 0 0" xyz="0.0 0.005 0.015"/>
     <axis xyz="0 1 0"/>
     <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
-    <mimic joint="openarm_left_finger_joint1"/>
+    <mimic joint="openarm_left_finger_joint1" multiplier="1" offset="0"/>
   </joint>
   <link name="openarm_right_hand">
     <visual name="openarm_right_hand_visual">
@@ -604,19 +604,19 @@ limitations under the License.
   </link>
   <link name="openarm_right_right_finger">
     <visual name="openarm_right_right_finger_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 -0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_right_right_finger_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 -0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
+      <origin rpy="0 0 0" xyz="-0.0064528 -0.01702 0.0219685"/>
       <mass value="0.03602545343277134"/>
       <inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" izz="7.5e-07"/>
     </inertial>
@@ -634,6 +634,6 @@ limitations under the License.
     <origin rpy="0 0 0" xyz="0.0 0.005 0.015"/>
     <axis xyz="0 1 0"/>
     <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
-    <mimic joint="openarm_right_finger_joint1"/>
+    <mimic joint="openarm_right_finger_joint1" multiplier="1" offset="0"/>
   </joint>
 </robot>