Hi, It was very quiet in this SIG in the last month, so I will try to start a new discussion. I was trying to use the same code on different humanoid robots with the same 20-DOF joint configuration. The problem was that the URDFs were very differently structured and named. So I tried to find out what the standards are in ROS. All I could find is REP 120 [1], which specifies the naming for some links and a general frame hierarchy. This is nice, but it doesn't specify the naming for the joints. I had a look at some of the URDFs of humanoid robots and the names differ a lot. There are different writing styles and different names for the joints, e.g. HeadPan and neck_yaw is the same thing. Is there any specification that I missed, or would it maybe be a good idea to make a new REP? [1] http://www.ros.org/reps/rep-0120.html --- [Visit Topic](https://discourse.ros.org/t/naming-standards-for-joints-in-humanoid-robots/3992/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: