[ros-users] How to express coupled joints in URDF

John Hsu johnhsu at willowgarage.com
Wed Oct 13 22:08:52 UTC 2010

Hi Yoonsoo,
URDF does not support coupled joints.  Custom transmissions should most
likely be able to do what you have described.
some examples and documentation on how transmissions are used in PR2.
How are the joint/actuators coupled in your robot?

On Tue, Oct 12, 2010 at 11:02 PM, Kim, Yoonsoo <yesarang.kim at gmail.com>wrote:

> Hi,
> My robot is composed of various coupled joints for dexterous hands, in
> which M joints are driven by N motors.
> I tried to find out how to express coupled joints in URDF but couldn't
> according to URDF XML reference.
> What I only found was PR2-specific <transmission> element. Can this
> <transmission> element express coupled joints and relationship between
> joints and actuators?
> If the element can't express coupled joints, any suggestion to do that will
> be appreciated.
> - Yoonsoo
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