I wish to connect a child link in a predefined initial position relative to another parent link, via a floating joint.
When I try to do it with the origin tag of the joint it doesn't affect at all!
<link name="world" />
<link name="test">
<visual>
<geometry>
<box size="1.0 0.4 0.1" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
</visual>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="test_joint" type="floating">
<parent link="world" />
<child link="test" />
<!-- This line doesn't affect anything -->
<origin xyz="0 0 1" rpy="0 0 0" />
</joint>
