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[URDF files] Covariance in joint definition and/or metadata

Hello everyone,

I have a question about the .urdf file format. Is it possible to associate a covariance matrix to a joint transform (more specifically a 6x6 matrix).

After searching I didn't found something like this, but in this case is it possible to associate general metadata to a joint ? (or for that matter any way of putting metadata in a .urdf readable by the urdfdom parser ?).

I am using urdfdom to parse the files in a c++ environment.

Best Regards.