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.gitattributes

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 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+J3-J4_Cover[[:space:]]back[[:space:]]extended.stl filter=lfs diff=lfs merge=lfs -text
+J3-J4_Cover[[:space:]]front[[:space:]]extended.stl filter=lfs diff=lfs merge=lfs -text
+jaw_anyskin.stl filter=lfs diff=lfs merge=lfs -text
+jaw_normal.stl filter=lfs diff=lfs merge=lfs -text

J3-J4_Cover back extended.stl

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J3-J4_Cover front extended.stl

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README.md

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+---
+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) to better suit cloth manipulation. All parts were designed to be printed on a standard FDM printer.
+
+## 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 for better fabric contact. |
+| `jaw_anyskin.stl` | Gripper jaw variant with mounting for [AnySkin](https://any-skin.github.io/) tactile sensing. |
+
+## Context
+
+We made two main hardware changes to the stock OpenArm:
+
+1. **Extended bicep (+5 cm):** Our bimanual setup is mounted on aluminum extrusion profiles without a torso, so the arms needed extra reach to cover the full workspace for folding.
+2. **Custom grippers:** The stock grippers didn't provide enough contact area for reliably gripping, pinching, and sliding fabric. The wider jaw design gives a broader contact patch.
+
+For full details, see the [Hardware section](https://huggingface.co/spaces/lerobot/robot-folding#hardware) of the blog post.
+
+## Related Resources
+
+- [Blog post](https://huggingface.co/spaces/lerobot/robot-folding)
+- [LeRobot](https://github.com/huggingface/lerobot)
+- [OpenArm docs](https://huggingface.co/docs/lerobot/openarm)
+- [OpenArm Mini](https://github.com/pkooij/open-arms-mini)

jaw_anyskin.stl

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jaw_normal.stl

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