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5 | 5 |
|
6 | 6 | <default> |
7 | 7 | <default class="fr3"> |
8 | | - <!-- Overwritten in joints 5, 6, and 7. --> |
| 8 | + <!-- Default; every arm joint below overrides these with sysid-calibrated values. --> |
9 | 9 | <joint damping="0.21" armature="0.195" frictionloss="1.137"/> |
10 | 10 | <position inheritrange="1"/> |
11 | 11 | <default class="visual"> |
|
80 | 80 | <body name="fr3_link1" pos="0 0 0.333"> |
81 | 81 | <inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.998098 -0.0605364 0.00380499 0.0110109" mass="2.92747" |
82 | 82 | diaginertia="0.0239286 0.0227246 0.00610634"/> |
83 | | - <joint name="fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87"/> |
| 83 | + <joint name="fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87" frictionloss="1.819" damping="0.910" armature="0.546"/> |
84 | 84 | <geom name="fr3_link1_collision" class="collision" mesh="link1_coll"/> |
85 | 85 | <geom material="white" mesh="link1" class="visual"/> |
86 | 86 | <body name="fr3_link2" quat="1 -1 0 0"> |
87 | 87 | <inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.502599 0.584437 -0.465998 0.434366" mass="2.93554" |
88 | 88 | diaginertia="0.0629567 0.0411924 0.0246371"/> |
89 | | - <joint name="fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87"/> |
| 89 | + <joint name="fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87" frictionloss="1.478" damping="0.910" armature="0.546"/> |
90 | 90 | <geom material="white" mesh="link2" class="visual"/> |
91 | 91 | <geom name="fr3_link2_collision" class="collision" mesh="link2_coll"/> |
92 | 92 | <body name="fr3_link3" pos="0 -0.316 0" quat="1 1 0 0"> |
93 | 93 | <inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.921025 -0.244161 0.155272 0.260745" mass="2.2449" |
94 | 94 | diaginertia="0.0267409 0.0189869 0.0171587"/> |
95 | | - <joint name="fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87"/> |
| 95 | + <joint name="fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87" frictionloss="1.819" damping="0.810" armature="0.546"/> |
96 | 96 | <geom mesh="link3_0" material="white" class="visual"/> |
97 | 97 | <geom mesh="link3_1" material="black" class="visual"/> |
98 | 98 | <geom name="fr3_link3_collision" class="collision" mesh="link3_coll"/> |
99 | 99 | <body name="fr3_link4" pos="0.0825 0 0" quat="1 1 0 0"> |
100 | 100 | <inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.438018 0.803311 0.00937812 0.403414" |
101 | 101 | mass="2.6156" diaginertia="0.05139 0.0372717 0.0160047"/> |
102 | | - <joint name="fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87"/> |
| 102 | + <joint name="fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87" frictionloss="1.819" damping="0.910" armature="0.546"/> |
103 | 103 | <geom mesh="link4_0" material="white" class="visual"/> |
104 | 104 | <geom mesh="link4_1" material="black" class="visual"/> |
105 | 105 | <geom name="fr3_link4_collision" class="collision" mesh="link4_coll"/> |
106 | 106 | <body name="fr3_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0"> |
107 | 107 | <inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.919031 0.125604 0.0751531 -0.366003" |
108 | 108 | mass="2.32712" diaginertia="0.0579335 0.0449144 0.0130634"/> |
109 | 109 | <joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12" |
110 | | - armature="0.074" frictionloss="0.763"/> |
| 110 | + frictionloss="1.679" damping="0.910" armature="0.254"/> |
111 | 111 | <geom mesh="link5_0" material="white" class="visual"/> |
112 | 112 | <geom mesh="link5_1" material="white" class="visual"/> |
113 | 113 | <geom mesh="link5_2" material="black" class="visual"/> |
|
116 | 116 | <inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.621301 0.552665 0.510011 0.220081" |
117 | 117 | mass="1.81704" diaginertia="0.0175039 0.0161123 0.00193529"/> |
118 | 118 | <joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12" |
119 | | - armature="0.074" frictionloss="0.44"/> |
| 119 | + frictionloss="1.840" damping="0.910" armature="0.254"/> |
120 | 120 | <geom mesh="link6_0" material="button_green" class="visual"/> |
121 | 121 | <geom mesh="link6_1" material="white" class="visual"/> |
122 | 122 | <geom mesh="link6_2" material="white" class="visual"/> |
|
130 | 130 | <inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.727579 0.0978688 -0.24906 0.63168" |
131 | 131 | mass="0.627143" diaginertia="0.000223836 0.000223642 5.64132e-07"/> |
132 | 132 | <joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12" |
133 | | - armature="0.074" frictionloss="0.248"/> |
| 133 | + frictionloss="1.448" damping="0.910" armature="0.254"/> |
134 | 134 | <geom mesh="link7_0" material="black" class="visual"/> |
135 | 135 | <geom mesh="link7_1" material="white" class="visual"/> |
136 | 136 | <geom mesh="link7_2" material="white" class="visual"/> |
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