[ODE] Monocycle - cylinder: what joint to use?

[Dmitry Medvedev]

Hello, everybody.

 I need to make a monocycle (ODE sphere) with some character riding on it (ODE cylinder).
 Monocycle has 3 degrees of freedom, while is moving in some plane. And the character should deflect a little bit depending on the situation (moving along a circle path, uphill, downhill, etc).
 The question is what ODE joint to use for such a simulation. Seems like Hinge-2 with fixed Axis1 and Axis2 zero length could help( the character can move with a rolling monocycle(sphere)).
Any suggestions are appreciated.

Thank you.