import type IUrdfLink from "./IUrdfLink";
export default interface IUrdfJoint {
    name?: string;
    type?: 'revolute' | 'continuous' | 'prismatic' | 'fixed' | 'floating' | 'planar';
    origin_rpy: [roll: number, pitch: number, yaw: number];
    origin_xyz: [x: number, y: number, z: number];
    rotation: [x: number, y: number, z: number];
    parent: IUrdfLink;
    child: IUrdfLink;
    axis_xyz?: [x: number, y: number, z: number];
    calibration?: {
        rising?: any;
        falling?: any;
    };
    dynamics?: {
        damping?: number;
        friction?: number;
    };
    limit?: {
        lower?: number;
        upper?: number;
        effort: number;
        velocity: number;
    };
    mimic?: {
        joint: string;
        multiplier?: number;
        offset?: number;
    };
    safety_controller?: {
        soft_lower_limit?: number;
        soft_upper_limit?: number;
        k_position?: number;
        k_velocity: number;
    };
    elem: Element;
}