# Revision history [back]

### Hinge2Joint - Implementations do not seem to Support ::GetAngleImpl()

In gazebo/physics/ode/ODEHinge2Joint.cpp, ODEHinge2Joint::GetAngleImpl(...), the function does not attempt to return the angle for the first joint axis (though debugging the code and examining the values indicates that there is a value there), and does not support multiple axes.

What is the plan regarding these types of joints? If we want co-located joints, is there some workaround to make this happen? We tried using 'null bodies' (zero mass, zero inertia) in URDF a couple of weeks ago, but that did not work. We also have seen gerkey's issue about zero mass in SDF raising an exception.

### Hinge2Joint - Implementations do not seem to Support ::GetAngleImpl()

In gazebo/physics/ode/ODEHinge2Joint.cpp, ODEHinge2Joint::GetAngleImpl(...), the function does not attempt to return the angle for the first joint axis (though debugging the code and examining the values indicates that there is a value there), and does not support multiple axes.axes. BulletHinge2Joint:GetAngleImpl(...) says it is not implemented.

What is the plan regarding these types of joints? If we want co-located joints, is there some workaround to make this happen? We tried using 'null bodies' (zero mass, zero inertia) in URDF a couple of weeks ago, but that did not work. We also have seen gerkey's issue about zero mass in SDF raising an exception.

### Hinge2Joint - Implementations do not seem to Support ::GetAngleImpl()

In gazebo/physics/ode/ODEHinge2Joint.cpp, ODEHinge2Joint::GetAngleImpl(...), the function does not attempt to return the angle for the first joint axis (though debugging the code and examining the values indicates that there is a value there), and does not support multiple axes. BulletHinge2Joint:GetAngleImpl(...) says it is not implemented.implemented. Changeset: e93d70fe8d38+ (gazebo_1.3) gazebo_1.3.1

What is the plan regarding these types of joints? If we want co-located joints, is there some workaround to make this happen? We tried using 'null bodies' (zero mass, zero inertia) in URDF a couple of weeks ago, but that did not work. We also have seen gerkey's issue about zero mass in SDF raising an exception.