Dynamic modelling concepts
The different implementations of dynamic relationships between the different static parts.
How to define a permanent static relationship between two static parts.
Creating joints from code
Description of the SDFormat marked language used to define objects and robots in Gazebo.
Link to the official SDFormat language specification for static parts (joints)
Link to the official sdformat API
Gazebo graphical tools for creating links
Integrated GUI in Gazebo for creating joints linking two static parts
