Hi all,
Attached is a draft defining naming conventions and semantic meaning
for coordinate frames of legged robots used within ROS.

The HTML version is available here:
http://laas.github.com/rep-coordinate-frames-for-biped-robots/rep-0118.html

If this interests you, consider voting (voting guidelines are
documented in REP 10
here: http://www.ros.org/reps/rep-0010.html).

Best regards,
-- 
Thomas Moulard