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# Revision history [back]

You can create a joint between base_link and the world, here's an example.

Assuming your disk is rotating about its Z axis, it would look something like this:

<joint name="joint_base_world" type="revolute">
<child>base_link</child>
<parent>world</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>