Two revolute joints at the same place is not working as expected

Hi All,

I have created two revolute joints along x and z axis correspondingly at the same place in the attached usd. But I see that when I am playing the scene only one joint is working at a time. I have checked that both joints are working individually but not together. Can you please let me know is there any way i Can make it work for both the joints?

Please find the attached usd.

Thanks and Regards,
humanoid.usd (118.2 KB)

1 Like

Revolute joints restrict all degrees of freedom except the rotational axis. The best way to achieve what you want is to add a rigid body in between with a mass/inertia but no collision.

body_link → revolute_x ->dummy_link->revolute_y->shoulder_link

Thanks a lot. It’s working now.