Kinematic Flag

The kinematic flag allow you to toggles between kinematic and compliant mode replacing the joints with the corresponding elastic like bushing elements.

The parameter variable pvs_kinematic_flag is used to toggle between kinematic and compliant mode. Where, '0', '1' are mapped to Inactive and Active respectively. It is used to activate appropriate groups created for the kinematic flag. Inactive represents compliant mode and Active represents kinematic mode.