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Answered at https://robotics.stackexchange.com/questions/24458/urdf-to-sdf-frame-of-reference-calculation-for-base-joint-fixed-vs-floating

Answered at ~~https://robotics.stackexchange.com/questions/24458/urdf-to-sdf-frame-of-reference-calculation-for-base-joint-fixed-vs-floating~~https://robotics.stackexchange.com/a/24488/31574

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