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Add effort command interface to all joints #302

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Add effort command interface to all joints #302

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039849b
Add effort command interface to all joints
urfeex Jun 16, 2025
6954bac
Merge branch 'rolling' into torque_control
urfeex Oct 8, 2025
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6 changes: 6 additions & 0 deletions urdf/inc/ur_joint_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
<joint name="${tf_prefix}shoulder_pan_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
Expand All @@ -22,6 +23,7 @@
<joint name="${tf_prefix}shoulder_lift_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
Expand All @@ -36,6 +38,7 @@
<joint name="${tf_prefix}elbow_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['elbow_joint']}</param>
Expand All @@ -50,6 +53,7 @@
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
Expand All @@ -64,6 +68,7 @@
<joint name="${tf_prefix}wrist_2_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
Expand All @@ -78,6 +83,7 @@
<joint name="${tf_prefix}wrist_3_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
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