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Recalculate V1 link7, hand and finger inertias from measured masses - #90
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Recalculate V1 link7, hand and finger mass properties together using the 94 g L-bracket assembly, 312 g assembled gripper, the motor's 300 g nominal mass, and openarm_hardware 1.0.1,
STEP/OpenArm01_follower.stepfor component geometry and mounting screws.link7handThese total 726.708274 g: the 300 g motor, the weighed 94 g and 312 g assemblies, and 20.708274 g of CAD mounting screws outside the weighed assemblies (11.497 g in
link7, 9.211 g inhandand fingers). See the measured allocation for details.CAD COMs and tensors are transformed into each link frame and combined with the parallel-axis theorem. At 22 mm travel per finger, half of each rod's mass and inertia goes to hand and half to its finger. Link7 contains the motor, L-bracket and their mounting screws; hand contains the support, rail and rotor; fingers contain the translating assemblies.
Apply COM-centered X-symmetry to link7 (
Ixy = Ixz = 0) and mirror its left-arm COM and tensor in Y. Use identical hand/finger parameters on both arms, with finger body axes aligned to hand. Keep thelink7 → hand → fingers / TCPhierarchy.The arm-body masses sum to 6.088692878 kg for the single arm and 12.177385756 kg for both arms, excluding the pedestal.
Validation: CAD mass allocation, tensor validity and left/right symmetry checks pass. Both robot models and the V1 scene run 1000 steps without warnings.