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Correct the opposing V1 finger mesh orientation #93

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Merged
kou merged 1 commit into from
Oct 22, 2026
Merged

Correct the opposing V1 finger mesh orientation #93

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13 changes: 3 additions & 10 deletions assets/end_effector/parallel_link/config/inertials.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ hand:
xz: 0.0
yz: 0.0

left_finger:
left_finger: &finger
origin:
x: 0.0064528
y: 0.017020
Expand All @@ -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
2 changes: 1 addition & 1 deletion assets/end_effector/parallel_link/config/kinematics_link.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,4 +37,4 @@ right_finger:
z: -0.673001
roll: 0.0
pitch: 0.0
yaw: 0.0
yaw: 3.141592653589793
6 changes: 3 additions & 3 deletions assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand All @@ -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>
Expand Down
24 changes: 12 additions & 12 deletions assets/robot/openarm_v1.0/urdf/example/v1.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand All @@ -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">
Expand Down Expand Up @@ -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>
Expand All @@ -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>
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