| Name | Description |
|---|
| Robot | Robot with links and joints from URDF |
| Link | Parameters of a rigid body robot link |
| Joint | Parameters of a robot joint |
| Inertial | Inertial parameters of a robot link |
| Origin | Parameters of an origin |
| Inertia | Inertia Matrix with URDF naming convention |
| Visual | Visual properties of a link |
| Geometry | Shape of visual object |
| Material | Material of visual element |
| Collision | Collision properties of a link |
| Parent | |
| Child | |
| Axis | Joint axis specified in the joint frame |
| Calibration | Reference positions of the joint, used to calibrate the absolute position of the joint |
| Dynamics | Physical properties of the joint |
| Limit | Joint limits for revolute and prismatic joints |
| Mimic | Specifies that the joint mimics another joint |
| Safety_controller | |