Merge 2089756 into 1ad88ec

quagla · web-flow · commit aff96487cf77 · 2025-04-25T08:53:50.000Z
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,4 +6,4 @@ All notable changes to this repository will be documented here.
 - Adds changelog structure, contributor list, and PR template.
 
 ## [07/09/2022]
-- Initial release.
+- Initial release.
diff --git a/franka_fr3/CHANGELOG.md b/franka_fr3/CHANGELOG.md
@@ -2,5 +2,8 @@
 
 All notable changes to this model will be documented in this file.
 
+## [25/04/2025]
+- Update armature, damping, friction parameters, identified in torque control.
+
 ## [31/05/2024]
-- Initial release.
+- Initial release.
diff --git a/franka_fr3/fr3.xml b/franka_fr3/fr3.xml
@@ -5,7 +5,8 @@
 
   <default>
     <default class="fr3">
-      <joint armature="0.1" damping="1"/>
+      <!-- Overwritten in joints 5, 6, and 7. -->
+      <joint damping="0.21" armature="0.195" frictionloss="1.137"/>
       <position inheritrange="1"/>
       <default class="visual">
         <geom type="mesh" group="2" contype="0" conaffinity="0"/>
@@ -105,15 +106,17 @@
                 <body name="fr3_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
                   <inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.919031 0.125604 0.0751531 -0.366003"
                     mass="2.32712" diaginertia="0.0579335 0.0449144 0.0130634"/>
-                  <joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"/>
+                  <joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"
+                    armature="0.074" frictionloss="0.763"/>
                   <geom mesh="link5_0" material="white" class="visual"/>
                   <geom mesh="link5_1" material="white" class="visual"/>
                   <geom mesh="link5_2" material="black" class="visual"/>
                   <geom name="fr3_link5_collision" class="collision" mesh="link5_coll"/>
                   <body name="fr3_link6" quat="1 1 0 0">
                     <inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.621301 0.552665 0.510011 0.220081"
                       mass="1.81704" diaginertia="0.0175039 0.0161123 0.00193529"/>
-                    <joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"/>
+                    <joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"
+                      armature="0.074" frictionloss="0.44"/>
                     <geom mesh="link6_0" material="button_green" class="visual"/>
                     <geom mesh="link6_1" material="white" class="visual"/>
                     <geom mesh="link6_2" material="white" class="visual"/>
@@ -126,7 +129,8 @@
                     <body name="fr3_link7" pos="0.088 0 0" quat="1 1 0 0">
                       <inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.727579 0.0978688 -0.24906 0.63168"
                         mass="0.627143" diaginertia="0.000223836 0.000223642 5.64132e-07"/>
-                      <joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"/>
+                      <joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"
+                        armature="0.074" frictionloss="0.248"/>
                       <geom mesh="link7_0" material="black" class="visual"/>
                       <geom mesh="link7_1" material="white" class="visual"/>
                       <geom mesh="link7_2" material="white" class="visual"/>
