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The joint types supported by URDF are (from wiki/urdf/XML/joint - Attributes):

revolute
continuous
prismatic
fixed
floating
planar

It would appear that SDF (Gazebo's modelling format) does support them, but this has not been mirrored in / ported to URDF.

The joint types supported by URDF are (from wiki/urdf/XML/joint - Attributes):

revolute
continuous
prismatic
fixed
floating
planar

It would appear that SDF (Gazebo's modelling format) does support ~~them,~~ them (and they are used in ROS (see this answer by John Hsu for example), but this has not been mirrored in / ported to URDF.

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