add friction description

404.html

@@ -12,7 +12,7 @@
 
 
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- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -901,7 +901,7 @@ <h1>404 - Not found</h1>
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+ <script src="/assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Demos/demo_for_arm_robot/index.html

@@ -16,7 +16,7 @@
 
 
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- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -989,7 +989,7 @@ <h1 id="demo-for-arm-robot">Demo For Arm Robot</h1>
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
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Demos/demo_for_mobile_robot/index.html

@@ -16,7 +16,7 @@
 
 
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- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -994,7 +994,7 @@ <h1 id="demo-for-mobile-robot">Demo For Mobile Robot</h1>
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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LICENSE/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -959,7 +959,7 @@ <h1 id="license">LICENSE</h1>
  <script id="__config" type="application/json">{"base": "..", "features": [], "search": "../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Tutorials/how_to_spawn_robot/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -1129,7 +1129,7 @@ <h2 id="how-to-start-up-a-node">How to start up a node</h2>
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Tutorials/how_to_use_simulator_launcher/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -1048,7 +1048,7 @@ <h2 id="use-from-launch-file">Use from Launch File</h2>
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Tutorials/setup_urdf_for_ros2_control/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -530,9 +530,18 @@
 </li>
 
  <li class="md-nav__item">
- <a href="#set-up-joint-stiffness-and-damping" class="md-nav__link">
+ <a href="#set-up-joint-stiffness-damping-and-joint-friction" class="md-nav__link">
  <span class="md-ellipsis">
- Set up Joint Stiffness and Damping
+ Set up Joint Stiffness, Damping and Joint Friction
+ </span>
+ </a>
+
+</li>
+
+ <li class="md-nav__item">
+ <a href="#set-up-friction-of-link" class="md-nav__link">
+ <span class="md-ellipsis">
+ Set up Friction of Link
  </span>
  </a>
 
@@ -958,9 +967,18 @@
 </li>
 
  <li class="md-nav__item">
- <a href="#set-up-joint-stiffness-and-damping" class="md-nav__link">
+ <a href="#set-up-joint-stiffness-damping-and-joint-friction" class="md-nav__link">
+ <span class="md-ellipsis">
+ Set up Joint Stiffness, Damping and Joint Friction
+ </span>
+ </a>
+
+</li>
+
+ <li class="md-nav__item">
+ <a href="#set-up-friction-of-link" class="md-nav__link">
  <span class="md-ellipsis">
- Set up Joint Stiffness and Damping
+ Set up Friction of Link
  </span>
  </a>
 
@@ -1029,20 +1047,57 @@ <h2 id="set-up-joint-information">Set up Joint Information</h2>
 &lt;/ros2_control&gt;
 </code></pre>
 <p>Note that the joint information used in isaac_ros2_control must contain one command_interface (position or velocity) and three state_interface (position and velocity and effort).</p>
-<h2 id="set-up-joint-stiffness-and-damping">Set up Joint Stiffness and Damping</h2>
+<h2 id="set-up-joint-stiffness-damping-and-joint-friction">Set up Joint Stiffness, Damping and Joint Friction</h2>
 <p>In Isaac Sim, the force output by the joint is given by</p>
 <pre><code>force=stiffness*(position－targetposition)+damping*(velocity－targetvelocity)
 </code></pre>
-<p>The stiffness and damping are not defined in default URDF.
+<p>The stiffness, damping and joint friction are not defined in default URDF.
 In this package, they are defined in isaac_drive_api tag in joint tag like below.</p>
 <pre><code>&lt;robot&gt;
  &lt;joint&gt;
- &lt;isaac_drive_api stiffness=&quot;0&quot; damping=&quot;150000&quot;/&gt;
+ &lt;isaac_drive_api stiffness=&quot;0&quot; damping=&quot;150000&quot; joint_friction=&quot;1000&quot;/&gt;
  &lt;/joint&gt;
 &lt;/robot&gt;
 </code></pre>
 <p>Note that the joint tag that include the isaac_drive_api tag is not exist in ros2_control tag.</p>
 <p>In default behaviour, the stiffness and damping are set zero.</p>
+<h2 id="set-up-friction-of-link">Set up Friction of Link</h2>
+<p>Unlike Gazebo, Isaac Sim allows the user to set the static and dynamic friction coefficients.
+Since these parameters are tied to the material, URDF adds friction information to the material tag, which is normally used to set the color.
+The following is an example of a description of a material with friction set:</p>
+<pre><code>&lt;robot&gt;
+ &lt;material name=&quot;white&quot;&gt;
+ &lt;color rgba=&quot;1.0 1.0 1.0 1.0&quot;/&gt;
+ &lt;isaac_rigid_body static_friction=&quot;1.0&quot; dynamic_friction=&quot;1.0&quot;/&gt;
+ &lt;/material&gt;
+&lt;/robot&gt;
+</code></pre>
+<p>As with regular URDF, you can set friction on the link by setting the material in the visual tag.
+Example:</p>
+<pre><code>&lt;robot&gt;
+ &lt;link name=&quot;body_link&quot;&gt;
+ &lt;inertial&gt;
+ &lt;origin xyz=&quot;0 0 0&quot; rpy=&quot;0 0 0&quot;/&gt;
+ &lt;mass value=&quot;1.0&quot;/&gt;
+ &lt;inertia ixx=&quot;0.001&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;0.001&quot; iyz=&quot;0.0&quot; izz=&quot;0.001&quot;/&gt;
+ &lt;/inertial&gt;
+ &lt;visual&gt;
+ &lt;origin xyz=&quot;0 0 0&quot; rpy=&quot;0 0 0&quot; /&gt;
+ &lt;geometry&gt;
+ &lt;box size=&quot;0.24 0.18 0.06&quot; /&gt;
+ &lt;/geometry&gt;
+ &lt;material name=&quot;white&quot; /&gt;
+ &lt;/visual&gt;
+ &lt;collision&gt;
+ &lt;origin xyz=&quot;0 0 0&quot; rpy=&quot;0 0 0&quot; /&gt;
+ &lt;geometry&gt;
+ &lt;box size=&quot;0.24 0.178 0.06&quot; /&gt;
+ &lt;/geometry&gt;
+ &lt;/collision&gt;
+ &lt;/link&gt;
+&lt;/robot&gt;
+</code></pre>
+<p>Note that there is no need to duplicate the material in the collision tag.</p>
 
 
 
@@ -1092,7 +1147,7 @@ <h2 id="set-up-joint-stiffness-and-damping">Set up Joint Stiffness and Damping</
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Tutorials/setup_urdf_for_sensors/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -1093,7 +1093,7 @@ <h2 id="description-of-depth-camera-information">Description of Depth Camera inf
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
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Tutorials/tutorial/index.html

@@ -16,7 +16,7 @@
 
 
  <link rel="icon" href="../../assets/images/favicon.png">
- <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.15">
+ <meta name="generator" content="mkdocs-1.5.3, mkdocs-material-9.5.12">
 
 
 
@@ -953,7 +953,7 @@ <h1 id="tutorials">Tutorials</h1>
  <script id="__config" type="application/json">{"base": "../..", "features": [], "search": "../../assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
 
 
- <script src="../../assets/javascripts/bundle.bd41221c.min.js"></script>
+ <script src="../../assets/javascripts/bundle.c8d2eff1.min.js"></script>
 
 
  </body>

docs/Tutorials/setup_urdf_for_ros2_control.md

@@ -60,20 +60,20 @@ The following is an example of description of joint information.
 
 Note that the joint information used in isaac_ros2_control must contain one command_interface (position or velocity) and three state_interface (position and velocity and effort).
 
-## Set up Joint Stiffness and Damping
+## Set up Joint Stiffness, Damping and Joint Friction
 
 In Isaac Sim, the force output by the joint is given by
 ```
 force=stiffness*(position－targetposition)+damping*(velocity－targetvelocity)
 ```
 
-The stiffness and damping are not defined in default URDF.
+The stiffness, damping and joint friction are not defined in default URDF.
 In this package, they are defined in isaac_drive_api tag in joint tag like below.
 
 ```
 <robot>
  <joint>
- <isaac_drive_api stiffness="0" damping="150000"/>
+ <isaac_drive_api stiffness="0" damping="150000" joint_friction="1000"/>
  </joint>
 </robot>
 ```
@@ -82,3 +82,47 @@ Note that the joint tag that include the isaac_drive_api tag is not exist in ros
 
 In default behaviour, the stiffness and damping are set zero.
 
+## Set up Friction of Link
+
+Unlike Gazebo, Isaac Sim allows the user to set the static and dynamic friction coefficients.
+Since these parameters are tied to the material, URDF adds friction information to the material tag, which is normally used to set the color.
+The following is an example of a description of a material with friction set:
+
+```
+<robot>
+ <material name="white">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ <isaac_rigid_body static_friction="1.0" dynamic_friction="1.0"/>
+ </material>
+</robot>
+```
+
+As with regular URDF, you can set friction on the link by setting the material in the visual tag.
+Example:
+
+```
+<robot>
+ <link name="body_link">
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="1.0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.24 0.18 0.06" />
+ </geometry>
+ <material name="white" />
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.24 0.178 0.06" />
+ </geometry>
+ </collision>
+ </link>
+</robot>
+```
+
+Note that there is no need to duplicate the material in the collision tag.

docs/index.md

@@ -12,6 +12,7 @@
 - This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
 - This launches sensors from URDF description.
 - This launchs sensors and controller at the desired timing.
+- This sets stiffness, damping and friction from URDF description.
 
 ## System Requirements
 
@@ -22,7 +23,7 @@
 | Cores | 4 |
 | RAM | 32GB |
 | Storage | 50GB SSD |
-| GPU | GeForce RTX 2070 |
+| GPU | GeForce RTX 3070 |
 | VRAM | 8GB |
 | ROS 2 | Humble |