Steve Peters

I discussed this with @azeey today, and the user story about force-torque sensors could use some improvement, as there are use cases in which a force-torque sensor can be attached...

> > I discussed this with @azeey today, and the user story about force-torque sensors could use some improvement, as there are use cases in which a force-torque sensor can...

Correct, a ball joint shouldn't need an `//axis/xyz` element at all. I was going to say that it shouldn't need an `//axis` at all, but I could imagine how `//axis/dynamics/damping`...

osrf/gazebo currently uses `//sensor/camera/pose` to specify the pose of each camera within a `MultiCameraSensor`, which can contain multiple `//sensor/camera` elements: * https://github.com/osrf/gazebo/blob/gazebo11/test/worlds/multicamera_noisy_test.world#L63-L78 * https://github.com/osrf/gazebo/blob/gazebo11/gazebo/sensors/MultiCameraSensor.cc#L134-L158 the multicamera is not yet implemented...

> @scpeters Thanks for the info; that's interesting. > > So I assume the advantage of a `MultiCameraSensor` over multiple `Camera` sensors on the same link is that you get...

I believe the `//sensor/camera/pose` should be relative to the `//sensor/pose` by default, and we actually don't currently provide an API for resolving a camera pose if `//camera/pose/@relative_to` is set. I...

I've added tests for `ReduceSDFExtensionJointFrameReplace` in the following branches: * targeting sdf9 (passes): https://github.com/gazebosim/sdformat/compare/sdf9...scpeters:test_fixed_joint_reduction_joint_9 * targeting sdf12 (fails): https://github.com/gazebosim/sdformat/compare/sdf12...scpeters:test_fixed_joint_reduction_joint_12

> I've added tests for `ReduceSDFExtensionJointFrameReplace` in the following branches: > > * targeting sdf9 (passes): [sdf9...scpeters:test_fixed_joint_reduction_joint_9](https://github.com/gazebosim/sdformat/compare/sdf9...scpeters:test_fixed_joint_reduction_joint_9) > * targeting sdf12 (fails): [sdf12...scpeters:test_fixed_joint_reduction_joint_12](https://github.com/gazebosim/sdformat/compare/sdf12...scpeters:test_fixed_joint_reduction_joint_12) fix in https://github.com/gazebosim/sdformat/pull/1089

In https://github.com/ros/sdformat_urdf/pull/1, there is an approach to parsing an sdformat file and generating urdfdom data structures. I've noticed one place where some additional APIs could be provided by libsdformat for...

> Per f2f, my opinion is that things like root link are effective implementation details of KDL. If it needs to be specified through SDFormat, it's non-physical (a modelilng consideration)...