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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.


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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.

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

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

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, which is a pity

Sylvain Joyeux gravatar imageSylvain Joyeux ( 2015-04-02 10:07:02 -0500 )edit 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
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Asked: 2014-12-08 23:15:26 -0500

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Last updated: Dec 09 '14