I just started writing an SDF model for a robot arm and I would like to define the pose of a link relative to another link, as opposed to the model frame. The SDF spec mentions both a frame tag (http://www.sdformat.org/spec?ver=1.5&elem=link#link_frame) and a frame attribute of the pose tag (http://www.sdformat.org/spec?ver=1.5&elem=link#pose_frame), but I can't find any documentation or examples of how to properly use it.
Here's a simple example of what I'm trying to do that isn't working:
0 0 0 0 0 0 0.1 0.025 0 0 0.1 0 0 0 0.2 0.05 0.1 0.2 0 0 0 0 0 0.2 0.05 0.1
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