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src/custom-ur-descriptions/cms_robot_description/urdf/isaac_sim_joint_params.yaml

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# NVIDIA Isaac Sim UR5e Joint Drive Parameters
# Source: Pre-built UR5e from omniverse://localhost/NVIDIA/Assets/Isaac/
#
# Use these values when importing custom URDFs into Isaac Sim
# to get proper physics behavior without oscillation.

ur5e_joints:
  shoulder_pan_joint:
    stiffness: 9400.5
    damping: 0.378

  shoulder_lift_joint:
    stiffness: 10020.9
    damping: 0.412

  elbow_joint:
    stiffness: 10230.2
    damping: 4.093

  wrist_1_joint:
    stiffness: 3940.6
    damping: 1.579

  wrist_2_joint:
    stiffness: 3940.6
    damping: 0.061

  wrist_3_joint:
    stiffness: 1000.1
    damping: 0.004

# Gripper values (Robotiq Hand-E)
# Source: https://forums.developer.nvidia.com/t/controlling-a-robotiq-hand-e-gripper/337309
robotiq_hande:
  robotiq_hande_left_finger_joint:
    stiffness: 1000.0
    damping: 1000.0
    max_force: 70.0
    # Joint range: -0.025 (closed) to 0.025 (open) meters

  # Right finger is a mimic joint - follows left finger
  # No need to set drive parameters, just ensure mimic is configured

# ---------------------------------------------------------
# Python script to apply these values after URDF import:
# ---------------------------------------------------------
#
# from pxr import Usd, UsdPhysics
#
# stage = omni.usd.get_context().get_stage()
#
# JOINT_PARAMS = {
#     # UR5e arm joints
#     "shoulder_pan_joint":   {"stiffness": 9400.5,  "damping": 0.378},
#     "shoulder_lift_joint":  {"stiffness": 10020.9, "damping": 0.412},
#     "elbow_joint":          {"stiffness": 10230.2, "damping": 4.093},
#     "wrist_1_joint":        {"stiffness": 3940.6,  "damping": 1.579},
#     "wrist_2_joint":        {"stiffness": 3940.6,  "damping": 0.061},
#     "wrist_3_joint":        {"stiffness": 1000.1,  "damping": 0.004},
#     # Robotiq Hand-E gripper
#     "robotiq_hande_left_finger_joint": {"stiffness": 1000.0, "damping": 1000.0},
# }
#
# robot_path = "/World/ur5e"
#
# for prim in stage.Traverse():
#     prim_path = str(prim.GetPath())
#     if robot_path not in prim_path:
#         continue
#     joint_name = prim.GetName()
#     if joint_name not in JOINT_PARAMS:
#         continue
#
#     # Handle revolute joints (arm)
#     if prim.IsA(UsdPhysics.RevoluteJoint):
#         drive = UsdPhysics.DriveAPI.Get(prim, "angular")
#         if not drive:
#             drive = UsdPhysics.DriveAPI.Apply(prim, "angular")
#         drive.GetStiffnessAttr().Set(JOINT_PARAMS[joint_name]["stiffness"])
#         drive.GetDampingAttr().Set(JOINT_PARAMS[joint_name]["damping"])
#         print(f"Applied (revolute): {joint_name}")
#
#     # Handle prismatic joints (gripper)
#     elif prim.IsA(UsdPhysics.PrismaticJoint):
#         drive = UsdPhysics.DriveAPI.Get(prim, "linear")
#         if not drive:
#             drive = UsdPhysics.DriveAPI.Apply(prim, "linear")
#         drive.GetStiffnessAttr().Set(JOINT_PARAMS[joint_name]["stiffness"])
#         drive.GetDampingAttr().Set(JOINT_PARAMS[joint_name]["damping"])
#         print(f"Applied (prismatic): {joint_name}")