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Update armature, damping, friction in fr3 model. #168

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merged 5 commits into from
Apr 25, 2025
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Update armature, damping, friction in fr3 model. #168

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Update armature, damping, friction in fr3 model.
quagla Apr 25, 2025
65b1cc2
Update CHANGELOG.md
quagla Apr 25, 2025
466c0c1
Revert global CHANGELOG.md
quagla Apr 25, 2025
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Update CHANGELOG.md
quagla Apr 25, 2025
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quagla Apr 25, 2025
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2 changes: 1 addition & 1 deletion CHANGELOG.md
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Expand Up @@ -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.
5 changes: 4 additions & 1 deletion franka_fr3/CHANGELOG.md
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Expand Up @@ -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.
12 changes: 8 additions & 4 deletions franka_fr3/fr3.xml
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Expand Up @@ -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"/>
Expand Down Expand Up @@ -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"/>
Expand All @@ -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"/>
Expand Down