# Velocity\_controllers or effort\_controllers for UR5 in simulation

**URL:** <https://forum.universal-robots.com/t/velocity-controllers-or-effort-controllers-for-ur5-in-simulation/23387>\
**Category:** General Application Help: How do I?\
**Created:** [August 22, 2022, 12:53pm UTC](https://forum.universal-robots.com/t/velocity-controllers-or-effort-controllers-for-ur5-in-simulation/23387 "2022-08-22T12:53:11Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon59420674](https://avatars.discourse-cdn.com/v4/letter/a/a4c791/32.png) [@anon59420674](https://forum.universal-robots.com/u/anon59420674)\
**Post date:** [August 22, 2022, 12:53pm UTC](https://forum.universal-robots.com/t/velocity-controllers-or-effort-controllers-for-ur5-in-simulation/23387/1 "2022-08-22T12:53:11Z")

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I know that [UR5](https://github.com/ros-industrial/universal_robot) is a joint-velocity-control robot that accepts velocity as an input. Still, I’m not sure what is the proper hardware interface (i.e. the low-level controller) I need to simulate in ROS. The [ros\_control](http://wiki.ros.org/ros_control) package has abundance of controllers’ types. The most relevant ones for UR5 are `velocity_controllers` and `effort_controllers`.

- effort\_controllers/JointVelocityController
- velocity\_controllers/JointVelocityController

The above controllers accept velocity as an input, but the actual command applied on the actuator is different. For example, in `effort_controllers`, velocity input is mapped into torque, whereas in the second one, velocity input is forwarded. Of course, in a simulation, we have more freedom and can apply all controllers; however, if we want to be as close as possible to reality, which type should I use for the UR5? I’ve tried to read the documentation, but I only see controlling the platform via GUI. Any suggestions?

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**Author:** ![anon59420674](https://avatars.discourse-cdn.com/v4/letter/a/a4c791/32.png) [@anon59420674](https://forum.universal-robots.com/u/anon59420674)\
**Post date:** [August 25, 2022, 6:01pm UTC](https://forum.universal-robots.com/t/velocity-controllers-or-effort-controllers-for-ur5-in-simulation/23387/2 "2022-08-25T18:01:43Z")

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please we need feedback.