JointDynamics¶

class urdfpy.JointDynamics(damping, friction)[source]¶

The dynamic properties of the joint.

Parameters:	damping (float) – The damping value of the joint (Ns/m for prismatic joints, Nms/rad for revolute). friction (float) – The static friction value of the joint (N for prismatic joints, Nm for revolute).

Attributes Summary

`damping`	The damping value of the joint.
`friction`	The static friction value of the joint.

Attributes Documentation

damping¶

The damping value of the joint.

Type:	float

friction¶

The static friction value of the joint.

Type:	float