# DexForce W1 DexForce W1 is a mobile dual-arm humanoid with two 7-DOF arms, a 4-DOF torso and a 2-DOF head. The bare body has 20 independent control DOFs; end effectors are configured separately.
DexForce W1 V021 with two BrainCo V021 hands, 32 independent control DOFs
W1 V021 · BrainCo V021 hands · 32 DOF
v021/BrainCo
DexForce W1 V030 standard bare body without end effectors, 20 independent control DOFs
W1 V030 · Bare body · 20 DOF
v030/bare
Both images are captured from the registered robot presets using the same camera, bent-elbow display pose and current `RenderCfg(renderer="rt")` defaults (OfflineRT), with default scene lighting. The display pose is for illustration; it does not change the preset home pose. V030 uses the V021 yellow (`#F8C349`) and dark (`#2E2E2E`) plastic palette with matching roughness, retaining V030 geometry and markings. :::{dropdown} Image rendering settings 960 × 1200; 1 sample per pixel; DLSS offscreen reconstruction (quality 2); tone mapping off; exposure 1.0; path depths 4–8. The scene uses the default ground and environment emission, with no added direct lights. Camera settings, joint positions and the V030 asset revision are recorded in the [render manifest](../../../_static/robots/dexforcew1_render.json). The manifest also records the V021 material parameters and the published archive checksums. ::: ## Supported Body Revisions | Body revision | Default arm solver | Default end effectors | Independent control DOF | Revision differences | |---|---|---|---|---| | `v021` | `SRSSolver` | BrainCo V021 hands | 32 | Separate component datasets and eyes component; identity mounting offset | | `v022` | `SRSSolver` | BrainCo V021 hands | 32 | Unified archive; eyes included in the head; provisional identity flange calibration | | `v025` | `SRSSolver` | BrainCo V021 hands | 32 | Unified archive; calibrated 12 mm mounting offset along each arm's `ee` Z axis | | `v030` | `FEPSolver` | None | 20 | Standard bare body; flange TCPs; no wrist-camera mounting frames | The default remains `v021/BrainCo`. A body revision selects the chassis, torso, head and both arms together; mixed body/arm revisions are unsupported. Hand versions are independent of body versions. ## Configuration Select an exact catalog variant to reproduce a configuration: ```python from embodichain.robot_registry import resolve_robot_cfg cfg = resolve_robot_cfg("DexforceW1", variant="v030/bare") # sim is an existing SimulationManager. robot = sim.add_robot(cfg=cfg) ``` Use `DexforceW1Cfg.from_dict` when customizing the end effectors: ```python from embodichain_robots import DexforceW1Cfg cfg = DexforceW1Cfg.from_dict( { "version": "v025", "hand_types": {"left": "BRAINCO_HAND", "right": "BRAINCO_HAND"}, "hand_versions": {"left": "v021", "right": "v021"}, } ) robot = sim.add_robot(cfg=cfg) ``` | Field | Purpose | |---|---| | `version` | Body revision: `v021`, `v022`, `v025` or `v030` | | `hand_types` | Per-side brand: `BRAINCO_HAND`, `DH_PGC_GRIPPER` or `DH_PGC_GRIPPER_M` | | `hand_versions` | Per-side hand asset revision; current registrations use `v021` | | `with_default_eef` | Install registered end effectors; defaults to `True` for V021/V022/V025 and `False` for V030 | | `hand_attach_xposes` | Per-side hand mounting transforms | | `solver_cfg` | Per-arm solver overrides, including tool TCPs | Side keys accept `left` / `right` or `DexforceW1ArmSide` values. `DexforceW1Cfg.from_dict({"version": "v030"})` selects the standard bare body. Optional V030 tools require their own mounting and TCP calibration. ## Catalog Variants and Control DOFs `embodichain list-robot` lists 19 W1 variants: six profiles each for V021, V022 and V025, plus `v030/bare`. | Profile suffix | Body revisions | End effectors | Independent control DOF | |---|---|---|---| | `BrainCo` | V021/V022/V025 | Two BrainCo hands | 32 | | `DH_PGC` / `DH_PGC_M` | V021/V022/V025 | Two matching DH grippers | 22 | | `L=DH_PGC,R=DH_PGC_M` / `L=DH_PGC_M,R=DH_PGC` | V021/V022/V025 | Mixed DH grippers | 22 | | `bare` | V021/V022/V025/V030 | None | 20 | Combine a revision and suffix, for example `v022/DH_PGC_M`. Each BrainCo hand contributes six independent joints; its PIP followers are outside the default EEF control group. Each DH gripper contributes one independent joint and one mimic follower (`1+1m`). See {doc}`/guides/robot_catalog` for hand-pairing and selection details. The bare-body control parts are `torso`, `head`, `left_arm`, `right_arm`, `dual_arm` and `full_body`. The last two combine existing joints; `full_body` excludes hands. Installed hands add `left_eef` and `right_eef`. Joint positions use radians and revision-specific mirrored axes; preserve the selected URDF's coordinates and limits when transferring poses. ## Solver and TCP Calibration V021/V022/V025 use version-owned SRS settings and legacy tool TCPs. Their `bare` profiles retain those TCPs; configure an explicit flange TCP when controlling the physical flange. V030 uses FEP, source-URDF joint limits and identity TCPs at `left_ee` / `right_ee`. Its left CAD wrist has a small J7 axis tilt, handled by explicit revision tolerances; accepted solutions are checked against source-URDF FK. Redundancy search scores joint distance and limit margin without a swivel-angle preference (`arm_angle_weight=0.0`), because the outstretched home pose has no defined GeoFIK swivel angle. These settings describe simulator kinematics; hardware and tool calibration remain separate. The body revision owns the mounting correction: identity for V021, provisional identity for V022, **+12 mm along each `ee` Z axis for V025**, and identity at the physical flange for V030. Configuration assembly applies it to both the hand transform and solver TCP: ```python final_attach_xpos = version_attach_xpos @ eef_attach_xpos final_tcp = version_attach_xpos @ solver_tcp ``` Supply hand transforms and TCPs relative to the standard mounting surface; do not add the V025 correction manually. This also applies to custom hand components and explicit solver overrides. Serialization removes and restores the derived offset so it is applied once. ## Assets and Download Layout | Body revision | Dataset ID | Full-robot asset path | |---|---|---| | `v021` | `DexforceW1V021` | `DexforceW1V021/DexforceW1_v02_1.urdf` | | `v022` | `DexforceW1V022` | `DexforceW1V022/w1/robot.urdf` | | `v025` | `DexforceW1V025` | `DexforceW1V025/w1/robot.urdf` | | `v030` | `DexforceW1V030` | `DexforceW1V030/w1/robot.urdf` | V021 assembles separate chassis, torso, head, eyes and arm datasets. Each later revision uses one checksum-validated archive containing the full robot and five component URDFs, with matching visual, collision and inertial definitions. V030's `robot_with_ee.urdf` is a compatibility alias of its bare `robot.urdf`; detachable tools are separate assets. V030 visual updates replace the existing archive and cache in place. To refresh an existing assembled robot after a visual-only update, set `cfg.urdf_cfg.use_signature_check = False` for one assembly so its copied meshes are rebuilt. Body assets, solvers and mounting offsets are registered in `embodichain_robots/dexforce/w1/specs.py`; external hand assets and transforms are registered independently in `hand_specs.py`. ## Shared end-effector model ownership BrainCo Revo 1 and DH PGC-140-50 native asset specifications belong to their manufacturer/model packages in `embodichain_robots`. W1's hand adapter consumes those definitions and retains installation transforms, body revision offsets, assembled naming, control groups and W1-specific drive calibration. Its existing hand selection/version fields and serialization behavior are preserved. A W1 hand version such as `v021` identifies the W1 adaptation and is not a manufacturer release claim. The [standalone BrainCo Revo 1 preset](../brainco/revo1.md) reuses the same model definitions with its own fixed-base joint-control defaults. See [EEF assets](../end_effectors.md) for canonical imports, provenance records and rendered illustrations of the supported tool assets.