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qlin960618
2025-02-22 22:37:34 +09:00
commit ee5f8b145e
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62
robots/fr3/dynamics.yaml Normal file
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joint1:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint2:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint3:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint4:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint5:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint6:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint7:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16

65
robots/fr3/fr3.urdf.xacro Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fr3">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
<!--
DEPRECATION NOTICE
argument arm_id is no longer supported and will be removed in the future.
This argument is ignored.
-->
<xacro:arg name="arm_id" default="fr3" />
<!-- Don't print a prefix for joints, visuals, and links? -->
<xacro:arg name="no_prefix" default="false"/>
<!-- Should an end-effector be mounted at the flange?" -->
<xacro:arg name="hand" default="true" />
<!-- Which end-effector would be mounted at the flange?" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Is the robot being controlled with ros2_control?" -->
<xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" -->
<xacro:arg name="robot_ip" default="" />
<!-- Should a fake hardware be used? -->
<xacro:arg name="use_fake_hardware" default="false" />
<!-- Should fake sensors be used? -->
<xacro:arg name="fake_sensor_commands" default="false" />
<!-- Should the robot be spawned in Gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
<xacro:arg name="gazebo_effort" default="false" />
<!-- For a multi arm setup, we need a threaded robot running async-->
<xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fr3"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
ee_id="$(arg ee_id)"
with_sc="$(arg with_sc)"
ros2_control="$(arg ros2_control)"
robot_ip="$(arg robot_ip)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo_effort="$(arg gazebo_effort)"
no_prefix="$(arg no_prefix)"
arm_prefix= ""
connected_to= "base">
</xacro:franka_robot>
</robot>

97
robots/fr3/inertials.yaml Normal file
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link0:
origin:
xyz: -0.0172 0.0004 0.0745
rpy: 0 0 0
mass: 2.3966
inertia:
xx: 0.0090
xy: 0.0000
xz: 0.0020
yy: 0.0115
yz: 0.0000
zz: 0.0085
link1:
origin:
xyz: 0.0000004128 -0.0181251324 -0.0386035970
rpy: 0 0 0
mass: 2.9274653454
inertia:
inertia:
xx: 0.023927316485107913
xy: 1.3317903455714081e-05
xz: -0.00011404774918616684
yy: 0.0224821613275756
yz: -0.0019950320628240115
zz: 0.006350098258530016
link2:
origin:
xyz: 0.0031828864 -0.0743221644 0.0088146084
rpy: 0 0 0
mass: 2.9355370338
inertia:
xx: 0.041938946257609425
xy: 0.00020257331521090626
xz: 0.004077784227179924
yy: 0.02514514885014724
yz: -0.0042252158006570156
zz: 0.06170214472888839
link3:
origin:
xyz: 0.0407015686 -0.0048200565 -0.0289730823
rpy: 0 0 0
mass: 2.2449013699
inertia:
xx: 0.02410142547240885
xy: 0.002404694559042109
xz: -0.002856269270114313
yy: 0.01974053266708178
yz: -0.002104212683891874
zz: 0.019044494482244823
link4:
origin:
xyz: -0.0459100965 0.0630492960 -0.0085187868
rpy: 0 0 0
mass: 2.6155955791
inertia:
xx: 0.03452998321913202
xy: 0.01322552265982813
xz: 0.01015142998484113
yy: 0.028881621933049058
yz: -0.0009762833870704552
zz: 0.04125471171146641
link5:
origin:
xyz: -0.0016039605 0.0292536262 -0.0972965990
rpy: 0 0 0
mass: 2.3271207594
inertia:
xx: 0.051610278463662895
xy: -0.005715173387783472
xz: -0.0035673167625872135
yy: 0.04787729713371481
yz: 0.010673985108535986
zz: 0.016423625579357254
link6:
origin:
xyz: 0.0597131221 -0.0410294666 -0.0101692726
rpy: 0 0 0
mass: 1.8170376524
inertia:
xx: 0.005412333594383447
xy: 0.006193456360285834
xz: 0.0014219289306117652
yy: 0.014058329545509979
yz: -0.0013140753741120031
zz: 0.016080817924212554
link7:
origin:
xyz: 0.0045225817 0.0086261921 -0.0161633251
rpy: 0 0 0
mass: 0.6271432862
inertia:
xx: 0.00021092389150104718
xy: -2.433299114461931e-05
xz: 4.564480393778983e-05
yy: 0.00017718568002411474
yz: 8.744070223226438e-05
zz: 5.993190599659971e-05

48
robots/fr3/joint_limits.yaml Normal file
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joint1:
limit:
lower: -2.7437
upper: 2.7437
velocity: 2.62
effort: 87.0
joint2:
limit:
lower: -1.7837
upper: 1.7837
velocity: 2.62
effort: 87.0
joint3:
limit:
lower: -2.9007
upper: 2.9007
velocity: 2.62
effort: 87.0
joint4:
limit:
lower: -3.0421
upper: -0.1518
velocity: 2.62
effort: 87.0
joint5:
limit:
lower: -2.8065
upper: 2.8065
velocity: 5.26
effort: 12.0
joint6:
limit:
lower: 0.5445
upper: 4.5169
velocity: 4.18
effort: 12.0
joint7:
limit:
lower: -3.0159
upper: 3.0159
velocity: 5.26
effort: 12.0

72
robots/fr3/kinematics.yaml Normal file
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joint1:
kinematic:
x: 0
y: 0
z: 0.333
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: 0
y: 0
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0
y: -0.316
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint4:
kinematic:
x: 0.0825
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint5:
kinematic:
x: -0.0825
y: 0.384
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint7:
kinematic:
x: 0.088
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
# Joint to tool origin
joint8:
kinematic:
x: 0
y: 0
z: 0.107
roll: 0
pitch: 0
yaw: 0