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Improve documentation of <freejoint> element.

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PiperOrigin-RevId: 453192974
Change-Id: I14b02c8c37f6208a67b35efc17887668f6555aef
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Yuval Tassa
2022-06-06 07:15:00 -07:00
committed by Copybara-Service
parent 8e38a8a020
commit 652bab3eec
1 changed files with 11 additions and 5 deletions
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doc/XMLreference.rst
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@@ -3115,11 +3115,17 @@ unit quaternions.
:el-prefix:`body/` **freejoint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a free joint whose only attribute is name. The same effect can be achieved with the :ref:`joint
<joint>` element, however in that case default settings intended for actuated joints may also affect the free joint
(depending on how the defaults classes are specified), which is usually undesirable. To avoid this complication, the
freejoint element was introduced. It is merely an XML shortcut. The compiler transforms it into a regular joint in
mjModel. If the XML model is saved, it will appear as a regular joint of type "free".
This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
an XML shortcut for
.. code-block:: xml
<joint type="free" stiffness="0" damping="0" frictionloss="0" armature="0"/>
While this joint can evidently be created with the :ref:`joint <joint>` element, default joint settings could affect it.
This is usually undesirable as physical free bodies do not have nonzero stiffness, damping, friction or armature. To
avoid this complication, the :el:`freejoint` element was introduced, ensuring joint defaults are *not inherited*. If
the XML model is saved, it will appear as a regular joint of type :at:`free`.
:at:`name`: :at-val:`string, optional`
Name of the joint.