Fixed joints parse limits but not axis

[AdamPettinger]

I have the socket of a ball joint modeled as a fixed link (as a parent to a floating joint for the ball joint). The joint that models where the socket is located is a fixed type joint. I thought it would be nice to pass all relevant location/limit/axis parameters of the socket into my URDF. However, I noticed that the axis tag is not read for fixed (and floating) joints, see below

urdfdom/urdf_parser/src/joint.cpp

Lines 424 to 425 in 29426ec

	// Get Joint Axis
	if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED)

This is consistent with the standard "Fixed and floating joints do not use the axis field." from here. Why not parse the axis anyway? And relatedly, why parse the axis limits (what is an effort limit for a fixed joint?) but NOT the axis?

Making the change to parse the axis should be easy, and I would be wiling to do it. Am I missing a compelling reason to not parse axes on fixed and floating joints?