Difference between planar and free-flyer joints

[LHT-Liu]

Hello, i think i can use the planar joint for mobile manipulator, such as this, But what if my environment is not a plane, but a three-dimensional complex surface?

and i noticed that the pin.JointModelFreeFlyer() and pin.JointModelComposite() ，I want to know the difference between they and planar joint？

thanks

[stephane-caron]

and i noticed that the pin.JointModelFreeFlyer() and pin.JointModelComposite() ，I want to know the difference between they and planar joint？

You should find the information you are looking for in this page of the documentation. If you have a more precise question after reading it, please summarize first the information you found for each joint, then feel free to ask.