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Have you checked the main gazebosim.org site?

Have you checked the main gazebosim.org site?

Edit:

yes you are right but for eg. in tutorials when they taught to build a mobile robot, they wrote a code in which they mentioned revolute joints but they did not mention what are the other joints, what is syntax for them, etc

For this in particular I think you want to check the sdformat site. For joints, see Specification/Joints.

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