---
license: apache-2.0
tags:
  - robotics
  - lerobot
  - openarm
  - hardware
---

# OpenArm Hardware Modifications for Cloth Folding

Custom 3D-printable parts used in the [Unfolding Robotics](https://huggingface.co/spaces/lerobot/robot-folding) project, where we trained a bimanual robot to fold t-shirts with a 90% success rate.

These files modify the standard [OpenArm](https://openarm.dev).

## Files

| File | Description |
|:---|:---|
| `J4_5cm_extended.step` | Extended upper arm (bicep) segment, adds +5 cm of reach to compensate for the lack of a hip/torso in our setup. STEP format for easy modification. |
| `J3-J4_Cover front extended.stl` | Front cover for the extended J3-J4 joint section. |
| `J3-J4_Cover back extended.stl` | Back cover for the extended J3-J4 joint section. |
| `jaw_normal.stl` | Custom gripper jaw with a larger surface area. |
| `jaw_anyskin.stl` | Gripper jaw variant with mounting for [AnySkin](https://any-skin.github.io/) tactile sensing. |