From e5120234c8f219f02ab0c6770a19156c92f70d2c Mon Sep 17 00:00:00 2001
From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Wed, 20 Feb 2019 15:38:45 -0300
Subject: [PATCH] Add damping and friction parameters (URDF).

---
 miitzhand_description/urdf/miitzhand.urdf | 37 ++++++++++++++++++-------------
 1 file changed, 22 insertions(+), 15 deletions(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index d019747..007ce6f 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -78,7 +78,8 @@
     <parent link="little_l0" />
     <child link="little_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
  <link name="little_l2">
@@ -111,7 +112,8 @@
     <parent link="little_l1" />
     <child link="little_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />    
     <mimic joint="little_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -145,7 +147,7 @@
     <parent link="little_l2" />
     <child link="little_l3" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="little_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -187,7 +189,8 @@
     <parent link="ring_l0" />
     <child link="ring_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
  <link name="ring_l2">
@@ -220,7 +223,7 @@
     <parent link="ring_l1" />
     <child link="ring_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="ring_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -254,7 +257,7 @@
     <parent link="ring_l2" />
     <child link="ring_l3" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
     <mimic joint="ring_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -296,7 +299,8 @@
     <parent link="middle_l0" />
     <child link="middle_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
   <link name="middle_l2">
@@ -329,7 +333,7 @@
     <parent link="middle_l1" />
     <child link="middle_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -363,7 +367,7 @@
     <parent link="middle_l2" />
     <child link="middle_l3" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -405,7 +409,8 @@
     <parent link="index_l0" />
     <child link="index_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" /> 
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" /> 
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
  <link name="index_l2">
@@ -438,7 +443,7 @@
     <parent link="index_l1" />
     <child link="index_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="index_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -472,7 +477,7 @@
     <parent link="index_l2" />
     <child link="index_l3" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="index_j1" multiplier="1" offset="0" />
   </joint>
 
@@ -514,7 +519,8 @@
     <parent link="thumb_l0" />
     <child link="thumb_l1" />
     <axis xyz="0 0 1" />
-    <limit lower="0" upper="1.57" effort="0.37" velocity="5.61" />
+    <limit lower="0" upper="1.57" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
   <link name="thumb_l2">
@@ -547,7 +553,8 @@
     <parent link="thumb_l1" />
     <child link="thumb_l2" />
     <axis xyz="0 0 1" />
-    <limit lower="-3.14" upper="-1.57" effort="0.37" velocity="5.61" />
+    <limit lower="-3.14" upper="-1.57" effort="1.968989" velocity="5.61" />
+    <dynamics damping="0.336538" friction="0.075478" />
   </joint>
 
  <link name="thumb_l3">
@@ -580,7 +587,7 @@
     <parent link="thumb_l2" />
     <child link="thumb_l3" />
     <axis xyz="0 0 1" />
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
+    <limit lower="-1.57" upper="0" effort="1.968989" velocity="5.61" />    
     <mimic joint="thumb_j2" multiplier="1" offset="1.57" />
   </joint>
 
-- 
2.12.0