Home | Tutorials | Wiki | Issues
Ask Your Question
3

What are the various joint types available in gazebo?

asked 2014-12-08 23:15:26 -0500

pmaini gravatar image

Revolute, prismatic, continuous and what else?

Could somebody point me to the right resource to look at to get such information.

Thanks.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
6

answered 2014-12-09 11:19:57 -0500

NickDP gravatar image

You can find the joint types supported by SDF in the SDF documentation:

The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible.

edit flag offensive delete link more

Comments

Thanx. This is the link I need. All new documentation refers the reader to sdformat.org.

pmaini gravatar imagepmaini ( 2014-12-10 13:49:56 -0500 )edit
1

Actually piston is not a valid joint type. Here's a list of ODE joint types.

scpeters gravatar imagescpeters ( 2014-12-12 02:48:32 -0500 )edit

I had the same problem than pmaini, the list of valid joint types cannot be found on sdformat.org, which is a pity

Sylvain Joyeux gravatar imageSylvain Joyeux ( 2015-04-02 10:07:02 -0500 )edit

http://sdformat.org/spec?ver=1.5&elem=joint has been updated, thanks for pointing that out.

nkoenig gravatar imagenkoenig ( 2015-04-02 13:33:35 -0500 )edit

Just for the sake of consistency: There is now also a fixed joint: "(fixed) a joint with zero degrees of freedom that rigidly connects two links".

Dennis Leroy Wigand gravatar imageDennis Leroy Wigand ( 2016-01-28 05:16:22 -0500 )edit

Hi there, thank you so much for the valuable question. I was wondering how to add a ball and socket joint in gazebo, I mean what would be the xacro syntax for that, I would really appreciate if you would kindly point out any example.

Abdullah gravatar imageAbdullah ( 2016-11-01 00:03:19 -0500 )edit

I could not find a ball joint example or simulate it properly.

Abdullah gravatar imageAbdullah ( 2016-11-01 08:06:41 -0500 )edit
Login/Signup to Answer

Question Tools

2 followers

Stats

Asked: 2014-12-08 23:15:26 -0500

Seen: 8,101 times

Last updated: Dec 09 '14