From 8512c537705dcb058705e1677abc53cb5fceaaa6 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Mon, 12 Oct 2026 23:12:24 +0900 Subject: [PATCH 1/5] Align V1 hand mass with the community description --- v1/openarm.xml | 3 ++- v1/openarm_bimanual.xml | 6 ++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/v1/openarm.xml b/v1/openarm.xml index 8d3d85e..602173f 100644 --- a/v1/openarm.xml +++ b/v1/openarm.xml @@ -221,7 +221,8 @@ limitations under the License. - + - + - + Date: Tue, 13 Oct 2026 22:13:46 +0900 Subject: [PATCH 2/5] Use CAD-derived V1 hand center of mass and inertia --- v1/openarm.xml | 9 ++++++--- v1/openarm_bimanual.xml | 15 +++++++++------ 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/v1/openarm.xml b/v1/openarm.xml index 602173f..d81340e 100644 --- a/v1/openarm.xml +++ b/v1/openarm.xml @@ -221,9 +221,12 @@ limitations under the License. - - + + diff --git a/v1/openarm_bimanual.xml b/v1/openarm_bimanual.xml index 533edb8..0e30d9f 100644 --- a/v1/openarm_bimanual.xml +++ b/v1/openarm_bimanual.xml @@ -280,9 +280,12 @@ limitations under the License. - - + + @@ -460,9 +463,9 @@ limitations under the License. class="visual" /> - - + + From 1b6ab78d57c3bd16a8d139b6ebd609b930426b1e Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Thu, 15 Oct 2026 12:34:27 +0900 Subject: [PATCH 3/5] Remove added V1 hand CAD comments --- v1/openarm.xml | 4 ---- v1/openarm_bimanual.xml | 5 ----- 2 files changed, 9 deletions(-) diff --git a/v1/openarm.xml b/v1/openarm.xml index d81340e..863ee4d 100644 --- a/v1/openarm.xml +++ b/v1/openarm.xml @@ -221,10 +221,6 @@ limitations under the License. - - - Date: Fri, 16 Oct 2026 00:58:20 +0900 Subject: [PATCH 4/5] Use measured V1 end-effector masses and symmetric link7 inertia --- v1/openarm.xml | 19 ++++++++----------- v1/openarm_bimanual.xml | 38 ++++++++++++++++---------------------- 2 files changed, 24 insertions(+), 33 deletions(-) diff --git a/v1/openarm.xml b/v1/openarm.xml index 863ee4d..2d3380e 100644 --- a/v1/openarm.xml +++ b/v1/openarm.xml @@ -207,9 +207,8 @@ limitations under the License. - + - + @@ -235,9 +234,8 @@ limitations under the License. - + @@ -251,9 +249,8 @@ limitations under the License. - + diff --git a/v1/openarm_bimanual.xml b/v1/openarm_bimanual.xml index afa003c..1555fc3 100644 --- a/v1/openarm_bimanual.xml +++ b/v1/openarm_bimanual.xml @@ -265,9 +265,8 @@ limitations under the License. - + @@ -280,8 +279,8 @@ limitations under the License. - + @@ -297,9 +296,8 @@ limitations under the License. quat="1.0 0.0 0.0 0.0"> - + @@ -314,9 +312,8 @@ limitations under the License. quat="1.0 0.0 0.0 0.0"> - + @@ -446,9 +443,8 @@ limitations under the License. - + - + @@ -476,9 +472,8 @@ limitations under the License. quat="1.0 0.0 0.0 0.0"> - + @@ -494,9 +489,8 @@ limitations under the License. quat="1.0 0.0 0.0 0.0"> - + From 93b9b483416d3c1de20283c0dc6fe072e6e49713 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Fri, 16 Oct 2026 16:12:37 +0900 Subject: [PATCH 5/5] Use corrected description mass and inertia for the V1 pedestal --- v1/openarm_bimanual.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/v1/openarm_bimanual.xml b/v1/openarm_bimanual.xml index 1555fc3..08112ed 100644 --- a/v1/openarm_bimanual.xml +++ b/v1/openarm_bimanual.xml @@ -141,8 +141,8 @@ limitations under the License. - +