URDF, Unified Robot Description Format is an

XML Extensible Markup Language (XML) is a markup language and file format for storing, transmitting, and reconstructing data. It defines a set of rules for encoding electronic document, documents in a format that is both human-readable and Machine-r ...

format for representing a

robot A robot is a machine—especially one Computer program, programmable by a computer—capable of carrying out a complex series of actions Automation, automatically. A robot can be guided by an external control device, or the robot control, co ...

model. URDF is commonly used in

Robot Operating System Robot Operating System (ROS or ros) is an Open-source software, open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software software development, development, it provide ...

(ROS) tools such as rviz (Ros Visualization tool) and Gazebo simulator. The model consists of links and

joint A joint or articulation (or articular surface) is the connection made between bones, ossicles, or other hard structures in the body which link an animal's skeletal system into a functional whole.Saladin, Ken. Anatomy & Physiology. 7th ed. McGraw- ...

motion In physics, motion is when an object changes its position with respect to a reference point in a given time. Motion is mathematically described in terms of displacement, distance, velocity, acceleration, speed, and frame of reference to an o ...

References

External links

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URDF XML Specifications

What is the Unified Robotics Description Format (URDF)?

Repository for URDF parsing code, github.com
Open-source robots Robot operating systems Cross-platform software XML {{markup-languages-stub