URDF origins tags
I'm building my first urdf, and I noticed that I can define the origin tag on the visual, collision elements but also on the link element. So I am wondering if there's a best practice ?
For instance, if I have two 10cm x 10cm x 10cm boxes one on the other, I could define the origin on the link tag with y = 5cm and the origin of the visual/collision tags at y = 5cm too but this is not really DRY, so I would probably only use the origin of the link tag only with y = 10cm, but which solution is better ?