For example here is a sample of the creation of a RigidBody joint for the MCP joint on an index finger that is attached to a body called "hand"
Code
%Index MCP joint
body = robotics.RigidBody('IndexL1');
%Indicate as reolutionary joint
joint = robotics.Joint('IndexMCP', 'revolute');
%rotation limits
joint.PositionLimits = [0 pi/2];
%Set location
setFixedTransform(joint,trvec2tform([0 0 0]));
%rotation axis
joint.JointAxis = [0 1 0];
body.Joint = joint;
%connect to index knuckle
addBody(hand, body, 'base2Index');
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