/usr/share/sdformat/1.0/joint.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 | <!-- Joint -->
<element name="joint" required="*">
<attribute name="name" type="string" default="__default__" required="1"/>
<attribute name="type" type="string" default="__default__" required="1"/>
<element name="parent" required="1">
<attribute name="link" type="string" default="__default__" required="1"/>
</element> <!-- End Parent -->
<element name="child" required="1">
<attribute name="link" type="string" default="__default__" required="1"/>
</element> <!-- End Child -->
<element name="origin" required="0">
<attribute name="pose" type="pose" default="0 0 0 0 0 0" required="1"/>
</element> <!-- End Origin -->
<element name="thread_pitch" type="double" default="1.0" required="0"/>
<element name="axis" required="1">
<attribute name="xyz" type="vector3" default="0 0 1" required="1"/>
<element name="dynamics" required="0">
<attribute name="damping" type="double" default="0" required="0"/>
<attribute name="friction" type="double" default="0" required="0"/>
</element> <!-- End Dynamics -->
<element name="limit" required="1">
<attribute name="lower" type="double" default="-1e16" required="1"/>
<attribute name="upper" type="double" default="1e16" required="1"/>
<attribute name="effort" type="double" default="0" required="0"/>
<attribute name="velocity" type="double" default="0" required="0"/>
</element> <!-- End Limit -->
</element> <!-- End Axis -->
<element name="axis2" required="0">
<attribute name="xyz" type="vector3" default="0 0 1" required="1"/>
<element name="dynamics" required="0">
<attribute name="damping" type="double" default="0" required="0"/>
<attribute name="friction" type="double" default="0" required="0"/>
</element> <!-- End Dynamics -->
<element name="limit" required="0">
<attribute name="lower" type="double" default="-1e16" required="0"/>
<attribute name="upper" type="double" default="1e16" required="0"/>
<attribute name="effort" type="double" default="0" required="0"/>
<attribute name="velocity" type="double" default="0" required="0"/>
</element> <!-- End Limit -->
</element> <!-- End Axis2 -->
<element name="physics" required="0">
<element name="ode" required="0">
<element name="fudge_factor" type="double" default="0" required="0"/>
<element name="cfm" type="double" default="0" required="0"/>
<element name="bounce" type="double" default="0" required="0"/>
<element name="max_force" type="double" default="0" required="0"/>
<element name="velocity" type="double" default="0" required="0"/>
<element name="limit" required="0">
<attribute name="cfm" type="double" default="0.0" required="1"/>
<attribute name="erp" type="double" default="0.2" required="1"/>
</element>
<element name="suspension" required="0">
<attribute name="cfm" type="double" default="0.0" required="1"/>
<attribute name="erp" type="double" default="0.2" required="1"/>
</element>
</element>
</element> <!-- End Physics -->
</element> <!-- End Joint -->
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