http://sdformat.org/spec?ver=1.6&elem=joint#joint_type
<joint> Element
Required: *
Type:
Default:Description: A joint connections two links with kinematic and dynamic properties.name Attribute
Required: 1
Type: string
Default: __default__Description:A unique name for the joint within the scope of the model.type Attribute
Required: 1
Type: string
Default: __default__Description:The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.<parent> Element
Required: 1
Type: string
Default: __default__Description: Name of the parent link<child> Element
Required: 1
Type: string
Default: __default__Description: Name of the child link<gearbox_ratio> Element
Required: 0
Type: double
Default: 1Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.<gearbox_reference_body> Element
Required: 0
Type: string
Default: __default__Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.<thread_pitch> Element
Required: 0
Type: double
Default: 1Description: Parameter for screw joints.<axis> Element
Required: 0
Type:
Default:Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.<initial_position> Element
Required: 0
Type: double
Default: 0Description: Default joint position for this joint axis.<xyz> Element
Required: 1
Type: vector3
Default: 0 0 1Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless the use_parent_model_frame flag is set to true. The vector should be normalized.<use_parent_model_frame> Element
Required: 1
Type: bool
Default: 0Description: Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility (see https://bitbucket.org/osrf/gazebo/issue/494 ).<dynamics> Element
Required: 0
Type:
Default:Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.<damping> Element
Required: 0
Type: double
Default: 0Description: The physical velocity dependent viscous damping coefficient of the joint.<friction> Element
Required: 0
Type: double
Default: 0Description: The physical static friction value of the joint.<spring_reference> Element
Required: 1
Type: double
Default: 0Description: The spring reference position for this joint axis.<spring_stiffness> Element
Required: 1
Type: double
Default: 0Description: The spring stiffness for this joint axis.
<limit> Element
Required: 1
Type:
Default:Description: specifies the limits of this joint<lower> Element
Required: 1
Type: double
Default: -1e+16Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.<upper> Element
Required: 1
Type: double
Default: 1e+16Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.<effort> Element
Required: 0
Type: double
Default: -1Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.<velocity> Element
Required: 0
Type: double
Default: -1Description: (not implemented) An attribute for enforcing the maximum joint velocity.<stiffness> Element
Required: 0
Type: double
Default: 1e+08Description: Joint stop stiffness. Support physics engines: SimBody.<dissipation> Element
Required: 0
Type: double
Default: 1Description: Joint stop dissipation.
<axis2> Element
Required: 0
Type:
Default:Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.<initial_position> Element
Required: 0
Type: double
Default: 0Description: Default joint position for this joint axis.<xyz> Element
Required: 1
Type: vector3
Default: 0 0 1Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless the use_parent_model_frame flag is set to true. The vector should be normalized.<use_parent_model_frame> Element
Required: 1
Type: bool
Default: 0Description: Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility (see https://bitbucket.org/osrf/gazebo/issue/494 ).<dynamics> Element
Required: 0
Type:
Default:Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.<damping> Element
Required: 0
Type: double
Default: 0Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.<friction> Element
Required: 0
Type: double
Default: 0Description: The physical static friction value of the joint.<spring_reference> Element
Required: 1
Type: double
Default: 0Description: The spring reference position for this joint axis.<spring_stiffness> Element
Required: 1
Type: double
Default: 0Description: The spring stiffness for this joint axis.
<limit> Element
Required: 0
Type:
Default:Description:<lower> Element
Required: 0
Type: double
Default: -1e+16Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.<upper> Element
Required: 0
Type: double
Default: 1e+16Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.<effort> Element
Required: 0
Type: double
Default: -1Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.<velocity> Element
Required: 0
Type: double
Default: -1Description: (not implemented) An attribute for enforcing the maximum joint velocity.<stiffness> Element
Required: 0
Type: double
Default: 1e+08Description: Joint stop stiffness. Supported physics engines: SimBody.<dissipation> Element
Required: 0
Type: double
Default: 1Description: Joint stop dissipation. Supported physics engines: SimBody.
<physics> Element
Required: 0
Type:
Default:Description: Parameters that are specific to a certain physics engine.<simbody> Element
Required: 0
Type:
Default:Description: Simbody specific parameters<ode> Element
Required: 0
Type:
Default:Description: ODE specific parameters<provide_feedback> Element
Required: 0
Type: bool
Default: 0Description: (DEPRECATION WARNING: In SDF 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDF 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint.<cfm_damping> Element
Required: 0
Type: bool
Default: 0Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.<implicit_spring_damper> Element
Required: 0
Type: bool
Default: 0Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in sdf 1.4.<fudge_factor> Element
Required: 0
Type: double
Default: 0Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.<cfm> Element
Required: 0
Type: double
Default: 0Description: Constraint force mixing for constrained directions<erp> Element
Required: 0
Type: double
Default: 0.2Description: Error reduction parameter for constrained directions<bounce> Element
Required: 0
Type: double
Default: 0Description: Bounciness of the limits<max_force> Element
Required: 0
Type: double
Default: 0Description: Maximum force or torque used to reach the desired velocity.<velocity> Element
Required: 0
Type: double
Default: 0Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.<limit> Element
Required: 0
Type:
Default:Description:<suspension> Element
Required: 0
Type:
Default:Description:
<provide_feedback> Element
Required: 0
Type: bool
Default: 0Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDF 1.5.
<frame> Element
Required: *
Type:
Default:Description: A frame of reference to which a pose is relative.name Attribute
Required: 1
Type: string
Default:Description:Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.<pose> Element
Required: 0
Type: pose
Default: 0 0 0 0 -0 0Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the specified frame.
<pose> Element
Required: 0
Type: pose
Default: 0 0 0 0 -0 0Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the specified frame.<sensor> Element
Required: 0
Type:
Default:Description: The sensor tag describes the type and properties of a sensor.
Parent element: <model>
Notes:A model may contain many joints.
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