URDF Studio: Tools for the visualization and verification of Universal Robot Description Format

Abstract

A Unified Robot Description Format (URDF) file is an XML file specification used to model robotic systems. URDF files are difficult to modify and verify due to the complexity of the systems they model. We build a set of tools to aid in the modification and verification of these URDF files. This includes a web-based URDF visualizer as well as a Python URDF linter to check if a given URDF file follows formatting and content requirements. We also collect a dataset of representative URDFs.