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Source of your panda specifications in the franka_sim #72

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lucky-luke-98 opened this issue Jul 30, 2024 · 0 comments
Open

Source of your panda specifications in the franka_sim #72

lucky-luke-98 opened this issue Jul 30, 2024 · 0 comments

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@lucky-luke-98
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That might be an easy question, but:

I would be interested in the source of the specifications that you use for the Franka Emika Panda XML-file (used in the franka_sim). I could not find any specifications about the joint and site masses in your paper or on the internet. Where did you find those values or did you calculate those by yourself?

I am talking about the values that you specify here for example:

145      <body name="link1" pos="0 0 0.333">
146        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
147          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
148        <joint name="joint1"/>
149        <site name="joint1"/>

I am asking, since I am using this file in my simulations and the robot is having trouble with the motion control. There is always a small - over time increasing - offset from the desired trajectory. One of my ideas is that the gravitational compensation is computed falsely. That's why I want to make sure that the masses are correct.

Thanks, in advance!
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