Skip to content

Correct V1 gripper frames, inertias and actuator parameters #87

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
stevenaya wants to merge 5 commits into
base: master
Choose a base branch
from
Draft

Correct V1 gripper frames, inertias and actuator parameters #87

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
8512c53
Align V1 hand mass with the community description
stevenaya Oct 12, 2026
86ceb18
Use CAD-derived V1 hand center of mass and inertia
stevenaya Oct 13, 2026
1b6ab78
Remove added V1 hand CAD comments
stevenaya Oct 15, 2026
3bca747
Use measured V1 end-effector masses and symmetric link7 inertia
stevenaya Oct 15, 2026
93b9b48
Use corrected description mass and inertia for the V1 pedestal
stevenaya Oct 16, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 8 additions & 11 deletions v1/openarm.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -207,9 +207,8 @@ limitations under the License.
<body name="openarm_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
<joint name="openarm_joint7" type="hinge" ref="0.0" class="motor_DM4310"
range="-1.570796 1.570796" axis="0 1 0" />
<inertial pos="6.875510271106056e-05 0.01266175250761268 0.06951945409987448"
mass="0.4659771327380578"
fullinertia="0.000639 0.000497 0.000342 1e-06 1e-06 8.9e-05" />
<inertial pos="-9.897454675528511e-05 0.003372444724450437 0.06138919729233123" mass="0.4054971268153967"
fullinertia="0.0003637830920674498 0.0003351190950225729 0.0001865112723189818 0 0 7.094884219324384e-05" />
<geom name="openarm_link7_collision" pos="0.0 -0.0 -0.5585"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
<geom name="openarm_link7_visual_0" pos="0.0 -0.0 -0.5585"
Expand All @@ -221,8 +220,8 @@ limitations under the License.
<site name="ee_control_point" pos="0 0 0" quat="0 1 0 0" size="0.01"
rgba="1 0 0 1" />
<body name="openarm_hand" pos="0 0 0.1001">
<inertial pos="0 0 0" mass="0.35"
fullinertia="0.0002473 0.00001763 0.0002521 0 1e-06 0" />
<inertial pos="0 0 0.005122940871819574" mass="0.1723111736408497"
fullinertia="0.000250930641371331 5.560627616753029e-05 0.0002906093338421478 1.18380219510342e-05 0 0" />
<geom name="openarm_hand_collision" pos="0 0 -0.6586"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
class="collision" />
Expand All @@ -235,9 +234,8 @@ limitations under the License.
<body name="openarm_right_finger" pos="0 -0.005 0.015" quat="1.0 0.0 0.0 0.0">
<joint name="openarm_finger_joint1" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
<inertial pos="-0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="0.004646697332048465 -0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 4.110240982958172e-06 -3.504307786795564e-06" />
<geom name="openarm_right_finger_collision" pos="0.0 0.05 -0.673001"
quat="0 0 0 1" type="mesh" mesh="finger_collision"
class="collision" />
Expand All @@ -251,9 +249,8 @@ limitations under the License.
<body name="openarm_left_finger" pos="0 0.005 0.015" quat="1.0 0.0 0.0 0.0">
<joint name="openarm_finger_joint2" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 1 0" />
<inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="-0.004646697332048465 0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 -4.110240982958172e-06 3.504307786795564e-06" />
<geom name="openarm_left_finger_collision" pos="0.0 -0.05 -0.673001"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision"
class="collision" />
Expand Down
42 changes: 18 additions & 24 deletions v1/openarm_bimanual.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,8 @@ limitations under the License.
<body name="openarm_body_link0" pos="0 0 0" quat="1.0 0.0 0.0 0.0">
<!-- Shoulder-center origin: +x forward, +y left, +z up. -->
<site name="arm_origin" pos="0 0 0.697" size="0.02" rgba="1 0.8 0 1" group="4" />
<inertial pos="0.0 0.0 0.296442186206" quat="1.0 0.0 0.0 0.0" mass="13.89"
diaginertia="0.432375 0.432375 0.051" />
<inertial pos="-0.016206894902 0 0.244091987626" quat="1.0 0.0 0.0 0.0" mass="3.74"
diaginertia="0.248946829107 0.253033907704 0.0140271775534" />
<geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh"
mesh="body_link0_3.obj" class="collision" />
<geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
Expand Down Expand Up @@ -265,9 +265,8 @@ limitations under the License.
<body name="openarm_left_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
<joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310"
range="-1.570796 1.570796" axis="0 -1 0" />
<inertial pos="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448"
mass="0.4659771327380578"
fullinertia="0.000639 0.000497 0.000342 -1e-06 1e-06 -8.9e-05" />
<inertial pos="-9.897454675528511e-05 -0.003372444724450437 0.06138919729233123" mass="0.4054971268153967"
fullinertia="0.0003637830920674498 0.0003351190950225729 0.0001865112723189818 0 0 -7.094884219324384e-05" />
<geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left"
class="collision" />
Expand All @@ -280,8 +279,8 @@ limitations under the License.
<!-- Control point at the joint7 origin, matching the V2 placement. -->
<site name="left_ee_control_point" pos="0 0 0" quat="0 1 0 0" size="0.01" rgba="0 1 0 1" />
<body name="openarm_left_hand" pos="0 0 0.1001">
<inertial pos="0 0 0" mass="0.35"
fullinertia="0.0002473 0.00001763 0.0002521 0 1e-06 0" />
<inertial pos="0 0 0.005122940871819574" mass="0.1723111736408497"
fullinertia="0.000250930641371331 5.560627616753029e-05 0.0002906093338421478 1.18380219510342e-05 0 0" />
<geom name="openarm_left_hand_collision" pos="0 0 -0.6586"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
class="collision" />
Expand All @@ -297,9 +296,8 @@ limitations under the License.
quat="1.0 0.0 0.0 0.0">
<joint name="openarm_left_finger_joint1" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
<inertial pos="-0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="0.004646697332048465 -0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 4.110240982958172e-06 -3.504307786795564e-06" />
<geom name="openarm_left_right_finger_collision"
pos="0.0 0.05 -0.673001" quat="0 0 0 1" type="mesh"
mesh="finger_collision" class="collision" />
Expand All @@ -314,9 +312,8 @@ limitations under the License.
quat="1.0 0.0 0.0 0.0">
<joint name="openarm_left_finger_joint2" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 1 0" />
<inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="-0.004646697332048465 0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 -4.110240982958172e-06 3.504307786795564e-06" />
<geom name="openarm_left_left_finger_collision"
pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
mesh="finger_collision" class="collision" />
Expand Down Expand Up @@ -446,9 +443,8 @@ limitations under the License.
<body name="openarm_right_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
<joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310"
range="-1.570796 1.570796" axis="0 1 0" />
<inertial pos="6.875510271106056e-05 0.01266175250761268 0.06951945409987448"
mass="0.4659771327380578"
fullinertia="0.000639 0.000497 0.000342 1e-06 1e-06 8.9e-05" />
<inertial pos="-9.897454675528511e-05 0.003372444724450437 0.06138919729233123" mass="0.4054971268153967"
fullinertia="0.0003637830920674498 0.0003351190950225729 0.0001865112723189818 0 0 7.094884219324384e-05" />
<geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
<geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585"
Expand All @@ -459,8 +455,8 @@ limitations under the License.
class="visual" />
<site name="right_ee_control_point" pos="0 0 0" quat="0 1 0 0" size="0.01" rgba="1 0 0 1" />
<body name="openarm_right_hand" pos="0 0 0.1001">
<inertial pos="0 0 0" mass="0.35"
fullinertia="0.0002473 0.00001763 0.0002521 0 1e-06 0" />
<inertial pos="0 0 0.005122940871819574" mass="0.1723111736408497"
fullinertia="0.000250930641371331 5.560627616753029e-05 0.0002906093338421478 1.18380219510342e-05 0 0" />
<geom name="openarm_right_hand_collision" pos="0 0 -0.6586"
quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
class="collision" />
Expand All @@ -476,9 +472,8 @@ limitations under the License.
quat="1.0 0.0 0.0 0.0">
<joint name="openarm_right_finger_joint1" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
<inertial pos="-0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="0.004646697332048465 -0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 4.110240982958172e-06 -3.504307786795564e-06" />
<geom name="openarm_right_right_finger_collision"
pos="0.0 0.05 -0.673001" quat="0 0 0 1" type="mesh"
mesh="finger_collision" class="collision" />
Expand All @@ -494,9 +489,8 @@ limitations under the License.
quat="1.0 0.0 0.0 0.0">
<joint name="openarm_right_finger_joint2" type="slide" ref="0.0"
class="motor_finger" range="0.0 0.044" axis="0 1 0" />
<inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
mass="0.03602545343277134"
diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
<inertial pos="-0.004646697332048465 0.01217890651468325 0.01335289447269551" mass="0.07444998664008126"
fullinertia="3.284268617249738e-05 4.17523619254798e-05 1.882116318207188e-05 -4.813534779503441e-07 -4.110240982958172e-06 3.504307786795564e-06" />
<geom name="openarm_right_left_finger_collision"
pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
mesh="finger_collision" class="collision" />
Expand Down
Loading