Hi,<div><br></div><div>My robot is composed of various coupled joints for dexterous hands, in which M joints are driven by N motors.</div><div><br></div><div>I tried to find out how to express coupled joints in URDF but couldn&#39;t according to URDF XML reference.</div>
<div>What I only found was PR2-specific &lt;transmission&gt; element. Can this &lt;transmission&gt; element express coupled joints and relationship between joints and actuators?</div><div><br></div><div>If the element can&#39;t express coupled joints, any suggestion to do that will be appreciated.</div>
<div><br></div><div>TIA</div><div><br></div><div>- Yoonsoo</div><div><br></div>