Modelling of torsion spring

[jgueldenstein]

I would like to model a Robot with an actuator and a torsion spring after the actuator in the kinematic chain. I have looked at #2100 but i can not figure out how to not allow translation in all axes and rotation around two axes or how to modify a fixed joint from a URDF to achieve this behavior.

My setup can be found here: spring_test.zip

Thank you in advance.

[nyxaria]

Did you make any progress on this? I am trying to model a compression spring myself, as a prismatic joint

[jgueldenstein]

Unfortunately I did not make any progress so far