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what is a floating joint physically?

asked 2016-10-30 09:45:26 -0500

Abdullah gravatar image

What is the physics of floating joint type?

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answered 2016-10-31 10:39:43 -0500

chapulina gravatar image

Floating joints only exist on URDF, not on SDF (which is the primary description format used by Gazebo).

According to URDF documentation, a floating joint "allows motion for all 6 degrees of freedom". For SDF, that would be no joint at all.

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Thank you so much for the information sir, kindly let me know, if there is a way to use a ball joint?

Abdullah gravatar imageAbdullah ( 2016-11-01 08:05:35 -0500 )edit

Not a "sir" ;) You could take a look at the following tutorial, a ball joint is used for the caster wheel: <- link

chapulina gravatar imagechapulina ( 2016-11-01 10:35:44 -0500 )edit

Hi, When I click on this link that you have kindly provided, it is not working. Please kindly let me know, if there is any other resource available.

Abdullah gravatar imageAbdullah ( 2016-11-01 12:53:18 -0500 )edit

There is one more question, can we get ball joints by URDF? or xacro? what is the correct syntax for that?

Abdullah gravatar imageAbdullah ( 2016-11-01 12:56:38 -0500 )edit

Try the link now ;) That's a lot of questions in one, I suggest you start a new question for that.

chapulina gravatar imagechapulina ( 2016-11-01 13:23:09 -0500 )edit

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Asked: 2016-10-30 09:45:26 -0500

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Last updated: Oct 31 '16