Are rotating constraints supported yet?

[MRiabov]

Hello,
I want to create a dynamic constraint that would constrain in 5DOF - XYZ +2 DOF in rotation. Is this supported yet?
Ideally, I could also add some friction to the joint.

Thank you.

[duburcqa]

You should provide more details. What are you trying to achieve exactly, and how would you do this in Mujoco if it is possible? (An actual script would be great)

[MRiabov]

Re mujoco: sorry, haven't used mujoco, can't give a script.

Simple example: a door that needs to be dynamically attached and detached. The door is constrained to rotate around a single XYZ position, and can rotate only in one axis (so constrained in two axes). So in the end, the door is constrained in 5 axes, XYZ and two rotation DOFs.

Exactly:
I'm creating a simulation involving simplified fasteners for an assembly task. E.g. if you want to assemble a table using a robot, fasteners will need to go into the dedicated holes and that will complete assembly.
So... When there is only one fastener inserted between parts, one of the parts it constrains should be able to rotate. E.g., when clamping two plates with two fasteners, after screwing in one fastener, the plates should still be able to rotate relative to each other, such that, if the robot inserts a correct fastener at a correct position, but with an incorrect rotation of one of the parts, it would still be able to rotate the part to a correct relative rotation and screw in the second part.

It could be called something like a "bearing" or a "hinge" constraint - the only movement it allows is in that one particular axis.

Why friction: when one fastener is already inserted, it realistic that there will be friction on that hinge.

[MRiabov]

Hello, this was never answered to. Does this not seem like a useful feature? Should I clarify anything?

I know that it's not nearly as popular as weld constraint, but nevertheless, I believe it is important too. In my case, it's a blocker, because I need to align two parts perfectly to each other before constraining, otherwise it won't work.
Cheers.