Migrating from gazebo11 to gazebo sim Collision position setting

When I set the collision position, I set the relative position. The collision effect is in line with the expected position, but the collision geometry is not in the expected position. As shown in the figure below, the sphere collision geometry is in the middle, but the collision effect is on the left and right wheels.

<link name="LeftCapstanWheelLink">
      <inertial auto="true" />
      <collision name="LeftCapstanWheelLinkCollision">
        <density>1000</density>
        <pose frame="LeftCapstanWheelJoint">0 0 0 1.57 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.34</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="LeftCapstanWheelLinkVisual">
        <pose frame="LeftCapstanWheelJoint">0.09 -0.03 0.36 0 0 -1.5708"</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://robot/forklift/meshes/FrontWheel.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>0.5 0.5 0.5 1</ambient>
          <diffuse>0.5 0.5 0.5 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
        </material>
      </visual>
    </link>
    <joint name="LeftCapstanWheelJoint" type="revolute">
      <parent>BodyLink</parent>
      <child>LeftCapstanWheelLink</child>
      <pose frame="BodyLink">0 0.545 0.34 0 0 0"</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <dynamics>
          <friction>10</friction>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

Instead of <pose frame="...", try doing <pose relative_to="...". See https://sdformat.org/tutorials?tut=pose_frame_semantics for more details on SDFormat’s frame semantics

It still doesn’t seem to display properly

<?xml version="1.0" encoding="utf-8"?>

<sdf version="1.11"> 
  <model name="forklift">
    <link name="BodyLink">
      <inertial auto="true" />
      <pose>0 0 0 0 0 0</pose>
      <visual name="BodyLinkVisual">
        <pose>-0.10 -0.55 0.70 0 0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://robot/forklift/meshes/Body.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>0.5 0.5 0.5 1</ambient>
          <diffuse>0.5 0.5 0.5 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
        </material>
      </visual>
      <collision name="BodyLinkCollision">
        <density>2000</density>
        <pose>-0.10 -0.55 0.70 0 0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://robot/forklift/meshes/Body.stl</uri>
          </mesh>
        </geometry>
      </collision>
    </link>

    <link name="LeftCapstanWheelLink">
      <inertial auto="true" />
      <collision name="LeftCapstanWheelLinkCollision">
        <density>1000</density>
        <pose relative_to="LeftCapstanWheelJoint" >0 0 0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.34</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>0
            </ode>
          </friction>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="LeftCapstanWheelLinkVisual">
        <pose relative_to="LeftCapstanWheelJoint">-0.1 -1.08 0.36 0 0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://robot/forklift/meshes/FrontWheel.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>0.5 0.5 0.5 1</ambient>
          <diffuse>0.5 0.5 0.5 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
        </material>
      </visual>
    </link>
    <joint name="LeftCapstanWheelJoint" type="revolute">
      <parent>BodyLink</parent>
      <child>LeftCapstanWheelLink</child>
      <pose relative_to="BodyLink">0 0.545 0.34 0 0 0"</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <dynamics>
          <friction>10</friction>
        </dynamics>
      </axis>
    </joint>


  </model> 
</sdf>