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Add conditional joint friction to stabilize Gazebo Classic simulation. #55

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Add conditional joint friction to stabilize Gazebo Classic simulation. #55

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13 changes: 7 additions & 6 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -278,6 +278,7 @@
-->
<origin xyz="0 0 0" rpy="0 0 ${pi}" />
</joint>
<!-- Conditional dynamics tags set the joint friction to 100x the joint's effort limit per discussion at Universal_Robots_ROS2_Gazebo_Simulation/issues/19 -->
<joint name="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link_inertia" />
<child link="${prefix}shoulder_link" />
Expand All @@ -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="0" friction="${shoulder_pan_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
Expand All @@ -300,7 +301,7 @@
<xacro:if value="${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="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="0" friction="${shoulder_lift_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
Expand All @@ -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="0" friction="${elbow_joint_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>
<joint name="${prefix}wrist_1_joint" type="revolute">
<parent link="${prefix}forearm_link" />
Expand All @@ -324,7 +325,7 @@
<xacro:if value="${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="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="0" friction="${wrist_1_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
Expand All @@ -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="0" friction="${wrist_2_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
Expand All @@ -348,7 +349,7 @@
<xacro:if value="${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="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="0" friction="${wrist_3_effort_limit*100.0 if sim_gazebo else 0}"/>
</joint>

<link name="${prefix}ft_frame"/>
Expand Down