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<Joint> element

The joint element describes the kinematics and dynamics of the joint and also specifies the safety limits of the joint.

Here is an example of a joint element:

   1  <joint name="my_joint" type="floating">
   2     <origin xyz="0 0 1" rpy="0 0 3.1416"/>
   3     <parent link="link1"/>
   4     <child link="link2"/>
   5 
   6     <calibration rising="0.0"/>
   7     <dynamics damping="0.0" friction="0.0"/>
   8     <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />
   9     <safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
  10  </joint>

joint.png

Attributes

The joint element has two attributes:

Elements

The joint element has following elements:


2019-12-07 13:15