From 09ef4ead2acaceae9b3b2bfc583346b9238ee537 Mon Sep 17 00:00:00 2001
From: kphawkins <kphawkins@gmail.com>
Date: Tue, 17 Dec 2013 18:47:35 -0500
Subject: [PATCH] Update ur5.urdf.xacro

Corrected effort thresholds and friction values for UR5 urdf.
---
 ur_description/urdf/ur5.urdf.xacro | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 9cd7f9749..d6a88d926 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -79,8 +79,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0 0 1" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
+    <dynamics damping="0.4" friction="0.0"/>
   </joint>
   
   <link name="${prefix}shoulder_link">
@@ -107,8 +107,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}upper_arm_link" />
     <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
     <axis xyz="0 1 0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
+    <dynamics damping="0.4" friction="0.0"/>
   </joint>
 
   <link name="${prefix}upper_arm_link">
@@ -136,8 +136,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}forearm_link" />
     <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0 1 0" />
-    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
+    <dynamics damping="0.4" friction="0.0"/>
   </joint>
 
   <link name="${prefix}forearm_link">
@@ -164,8 +164,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}wrist_1_link" />
     <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
     <axis xyz="0 1 0" />
-    <limit lower="${-1.0 * pi}" upper="${0.25 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-1.0 * pi}" upper="${0.25 * pi}" effort="28.0" velocity="${pi}"/>
+    <dynamics damping="0.3" friction="0.0"/>
   </joint>
 
   <link name="${prefix}wrist_1_link">
@@ -193,8 +193,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}wrist_2_link" />
     <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
     <axis xyz="0 0 1" />
-    <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="28.0" velocity="${pi}"/>
+    <dynamics damping="0.3" friction="0.0"/>
   </joint>
 
   <link name="${prefix}wrist_2_link">
@@ -222,8 +222,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "${prefix}wrist_3_link" />
     <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0 1 0" />
-    <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="10.0" velocity="${pi}"/>
-    <dynamics damping="10" friction="0.1"/>
+    <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="28.0" velocity="${pi}"/>
+    <dynamics damping="0.3" friction="0.0"/>
   </joint>
 
   <link name="${prefix}wrist_3_link">