# Revision history [back]

You cannot have two joints with the same parents and child. To solve this problem, you will need to create an additional link that acts as a hinge. Firstly, create a joint between the body of the vehicle and the hinge link. This joint will be of kind 'revolute' and responsible for steering. Secondly create a joint between the hinge link and the wheel, this joint will be of kind 'continuous' and responsible for robot propulsion. Simple Example:

<link name='robot_body'/>
<joint name="steering_joint" type="revolute">
<origin rpy="0 0 0" xyz="* * *"/>