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Add arm_origin to change the origin of arms #45

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Merged
kou merged 1 commit into from
Jul 27, 2026
Merged

Add arm_origin to change the origin of arms #45

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4 changes: 4 additions & 0 deletions v2/openarm_bimanual.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -171,6 +171,10 @@ limitations under the License.
<mesh name="finger_outer_right_collision_03" content_type="model/stl" file="collision/finger_outer_part_03.stl" />
</asset>
<worldbody>
<!-- arm origin site: pose origin for FK/IK, placed at the model root so it
lands on the attach frame wherever the bimanual arms are mounted
(group 4 = hidden by default) -->
<site name="arm_origin" pos="0 0 0" size="0.02" rgba="1 0.8 0 1" group="4"/>
<body name="openarm_left_base_link" pos="0 0.031 0">
<inertial pos="-0.00253124 0.0258186 -2.70658e-05" quat="-1.46856942085e-06 0.70739772103 0.706815721259 2.1457591538e-05" mass="1.14323" diaginertia="0.00159935 0.00113608 0.000750542" />
<geom name="base_link_left_00" type="mesh" mesh="base_link_left_00" class="visual" material="matte_black" quat="0 0 1 0" />
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