I am robotics software developer for Toyota Research Institute, part of the team working towards robust manipulation. For the past few months, I have been working with @scpeters and @azeey at OSRC to start improving the documentation for the full specification for SDFormat, which can be seen here. We are using this as a launching point to extend SDFormat with a proposal for pose frame semantics, which aims to improve expressivity by enabling the definition of arbitrary coordinate frames within a model and choosing the frame relative to which each frame is defined. This is something that I, as part of TRI, would like for Drake, and something that we hope is useful for the ROS and Gazebo communities.
If you have any high level questions about this proposal that don’t necessarily fit in as a SDFormat issue, please feel free to ask here. If you have more specific questions, please consider opening a sdf_tutorials pull request with suggested changes to enable discussion on BitBucket’s review interface.
If you’re curious about other discussions that have not yet been merged into the SDFormat documentation website, you can view existing sdf_tutorials pull requests.
P.S. Not all discussions happen on a publicly visible forum, but we are trying to distill the main points of those discussions in the proposals to make them discoverable / traceable. Additionally, the proposal process for SDFormat is still a bit ad hoc and has not yet been fully formalized (e.g. using REPs).
P.P.S. This has been cross-posted to Gazebo Community.