On Mon, Oct 25, 2010 at 5:11 PM, Patrick Doyle <wpdster@gmail.com> wrote:

> Having just looked through a bunch of URDF, I had a somewhat similar
> question -- when I see link with a name such as
> r_forearm_cam_optical_frame, to what does the origin of that link
> refer?  Is it the location of the camera itself, or is it the focal
> point of the camera?
>

It's the focal point of the camera.

Patrick