diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f1050ab..0a57abc 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -75,6 +75,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">4000.0</param>
+          <param name="i_vel">250.0</param>
+          <param name="d_vel">1.0</param>
+          <param name="iMax_vel">15.0</param>
+          <param name="iMin_vel">-15.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}shoulder_lift_joint">
         <command_interface name="position">
@@ -91,6 +102,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">100000.0</param>
+          <param name="i_vel">1600.0</param>
+          <param name="d_vel">2.5</param>
+          <param name="iMax_vel">45.0</param>
+          <param name="iMin_vel">-45.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}elbow_joint">
         <command_interface name="position">
@@ -107,6 +129,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">10000.0</param>
+          <param name="i_vel">450.0</param>
+          <param name="d_vel">2.0</param>
+          <param name="iMax_vel">30.0</param>
+          <param name="iMin_vel">-30.0</param>
+          <param name="cmdMax_vel">150.0</param>
+          <param name="cmdMin_vel">-150.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_1_joint">
         <command_interface name="position">
@@ -123,6 +156,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">3000.0</param>
+          <param name="i_vel">175.0</param>
+          <param name="d_vel">0.5</param>
+          <param name="iMax_vel">7.0</param>
+          <param name="iMin_vel">-7.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_2_joint">
         <command_interface name="position">
@@ -139,6 +183,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">2500.0</param>
+          <param name="i_vel">150.0</param>
+          <param name="d_vel">0.3</param>
+          <param name="iMax_vel">6.0</param>
+          <param name="iMin_vel">-6.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
       <joint name="${prefix}wrist_3_joint">
         <command_interface name="position">
@@ -155,6 +210,17 @@
         </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
+        <xacro:if value="${sim_ignition}">
+          <!-- initial PID values for the IgnitionSystem and simulation -->
+          <param name="p_vel">2000.0</param>
+          <param name="i_vel">10.0</param>
+          <param name="d_vel">0.2</param>
+          <param name="iMax_vel">5.0</param>
+          <param name="iMin_vel">-5.0</param>
+          <param name="cmdMax_vel">28.0</param>
+          <param name="cmdMin_vel">-28.0</param>
+          <param name="cmdOffset_vel">0.0</param>
+        </xacro:if>
       </joint>
 
       <xacro:unless value="${sim_gazebo or sim_ignition}">
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 7e43bcd..a65c8b3 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -70,6 +70,7 @@
     fake_sensor_commands:=false
     sim_gazebo:=false
     sim_ignition:=false
+    force_abs_paths:=false
     headless_mode:=false
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
     use_tool_communication:=false
@@ -96,7 +97,7 @@
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"
-      force_abs_paths="${sim_gazebo or sim_ignition}"/>
+      force_abs_paths="${force_abs_paths}"/>
 
 
     <!-- ros2 control include -->
@@ -288,7 +289,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
@@ -300,7 +301,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
@@ -312,7 +313,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="21.75" friction="3.48"/>
     </joint>
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
@@ -324,7 +325,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
@@ -336,7 +337,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
@@ -348,7 +349,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="3.0" friction="0.48"/>
     </joint>
 
     <link name="${prefix}ft_frame"/>