Nori A3 is Nori Robotics’ bimanual mobile manipulator — a compact wheeled base (45 x 45 cm footprint) with a three-stage telescoping lift that carries two arms and a head/camera cluster from 69 cm up to 145 cm, giving it reach from the floor to a kitchen counter.
The mechanism
19 real degrees of freedom. Each arm carries seven revolute joints (shoulder pitch and
roll, bicep yaw, elbow pitch, forearm yaw, wrist pitch and roll) plus a geared two-finger
gripper — 8 DOF per arm, 16 across both. A differential-drive base adds 2 more (continuous
wheel joints; the rear casters are fixed spheres, not real joints). The telescoping lift
contributes 1 real DOF: its middle stage is a mimic of the top stage’s own prismatic joint,
traveling at a fixed fraction of its rate rather than under its own actuation — the same
passive/mimic-driven pattern each gripper’s idler finger uses, mirroring its own driven
finger through a <mimic> constraint rather than a second motor.
About these files — read before importing
This links directly to the official
nori_description repository, published
under Nori Robotics’ own GitHub organization. ARMOR links directly to that repository rather
than re-hosting anything, so what you get is exactly what Nori Robotics publishes, unmodified
— including the vendor’s own accuracy notes (in the repository’s NOTICE file): total mass
is modeled about 9% light of the real hardware, inertia tensors are uniform-density estimates
rather than measured, and the torso/neck/head shapes are explicitly-labeled placeholders
standing in for unmeasured geometry. Kinematics (joint axes, limits, and link transforms) are
stated as measured and verified against real hardware.