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	<title>Real-Time Physics Simulation Forum</title>
	
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	<updated>2022-03-02T21:50:34+00:00</updated>

	<author><name><![CDATA[Real-Time Physics Simulation Forum]]></name></author>
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		<entry>
		<author><name><![CDATA[bluefish_]]></name></author>
		<updated>2022-03-02T21:50:34+00:00</updated>

		<published>2022-03-02T21:50:34+00:00</published>
		<id>https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43912#p43912</id>
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		<title type="html"><![CDATA[Compose two joint types?]]></title>

		
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Hello! I want to simulate a hook and a rod such that it's as if there are two joint relationships, one revolute and one prismatic (two degrees of freedom in the system) like follows:<div class="inline-attachment"><dl class="file"><dt class="attach-image"><img src="https://pybullet.org/Bullet/phpBB3/download/file.php?id=1927" class="postimage" alt="Screen Shot 2022-03-02 at 1.45.30 PM.png" onclick="viewableArea(this);" /></dt></dl></div><div class="inline-attachment"><dl class="file"><dt class="attach-image"><img src="https://pybullet.org/Bullet/phpBB3/download/file.php?id=1929" class="postimage" alt="Screen Shot 2022-03-02 at 1.45.51 PM.png" onclick="viewableArea(this);" /></dt></dl></div><div class="inline-attachment"><dl class="file"><dt class="attach-image"><img src="https://pybullet.org/Bullet/phpBB3/download/file.php?id=1928" class="postimage" alt="Screen Shot 2022-03-02 at 1.45.40 PM.png" onclick="viewableArea(this);" /></dt></dl></div>Can I achieve this by adding two joints, one of type JOINT_REVOLUTE and one of type JOINT_PRISMATIC, between the two bodies? I read in the quickstart guide that in a multibody it's one joint for every one link. Is it possible to add two links between two bodies in a multibody? Thanks!<p>Statistics: Posted by <a href="https://pybullet.org/Bullet/phpBB3/memberlist.php?mode=viewprofile&amp;u=14226">bluefish_</a> — Wed Mar 02, 2022 9:50 pm</p><hr />
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