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Identifies the four friction-model parameters for one joint via a bidirectional velocity sweep. Gravity is computed centrally from the URDF (see Gravity compensation), so this command only fits the friction half-difference and a constant offset. Friction model: τ = Fc·tanh(0.1·k·v) + Fv·v + Fo
FlagDescription
--l / --rArm side (required)
--joint JOINTshoulder_1, shoulder_2, shoulder_3, elbow, wrist_1, wrist_2, wrist_3 (required)
--kp FLOATProportional gain (default: from AxolConfig)
--kd FLOATDerivative gain (default: from AxolConfig)
--velocities V [V ...]Velocity setpoints in rad/s (default: ~0.1, 0.3, 0.6, 0.9, 1.3)
--lo RADOverride lower joint limit for the sweep
--hi RADOverride upper joint limit for the sweep
--dump-csv [PATH]Write per-bin (v, q, tau_fwd, tau_bwd, tau_avg, tau_halfdiff) rows to a CSV for offline plotting / arm-vs-arm comparison. Pass without a value to auto-name as logs/friction_<side>_<joint>_<timestamp>.csv
axol tune.friction --l --joint shoulder_1 --kp 30 --kd 0.8
axol tune.friction --r --joint elbow --kp 20 --kd 0.6
axol tune.friction --l --joint wrist_1 --velocities 0.2 0.6 1.0
axol tune.friction --l --joint shoulder_2 --dump-csv