# robot description formats

**URL:** https://discourse.openrobotics.org/c/archive/robot-description-formats/7.md

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## [About the robot description formats category](https://discourse.openrobotics.org/t/about-the-robot-description-formats-category/27)

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**Author:** [@jackie](https://discourse.openrobotics.org/u/jackie)\
**Replies:** 0

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This category is for discussing robot description formats and the surrounding tools: URDF SDF parsers and robot\_model tools Solidworks and other CAD tools exporters The next generation?

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## [Reusable Components in URDF](https://discourse.openrobotics.org/t/reusable-components-in-urdf/42519)

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**Author:** [@artineering](https://discourse.openrobotics.org/u/artineering)\
**Replies:** 9\
**Last updated:** [March 19, 2025, 3:18pm UTC](https://discourse.openrobotics.org/t/reusable-components-in-urdf/42519 "2025-03-19T15:18:40Z")

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I am working on a MATLAB toolbox to build URDF files for robots in an object-oriented fashion. One of the features I am planning to add to the toolbox is to create a reusable component that can be added to a robot defini…

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## [Link inertia tests for robot manipulator URDF](https://discourse.openrobotics.org/t/link-inertia-tests-for-robot-manipulator-urdf/42370)

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**Author:** [@thz](https://discourse.openrobotics.org/u/thz)\
**Replies:** 3\
**Last updated:** [March 7, 2025, 11:32am UTC](https://discourse.openrobotics.org/t/link-inertia-tests-for-robot-manipulator-urdf/42370 "2025-03-07T11:32:15Z")

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When exporting a URDF from CAD (using tools like fusion2urdf or robotcad), the true moments of inertia of each motor are not captured. To try and align the physical properties of the links in the URDF with the links, we…

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## [FusionSDF: Export Fusion 360 CAD designs to SDF](https://discourse.openrobotics.org/t/fusionsdf-export-fusion-360-cad-designs-to-sdf/39430)

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**Author:** [@ahb](https://discourse.openrobotics.org/u/ahb)\
**Replies:** 6\
**Last updated:** [December 27, 2024, 7:56am UTC](https://discourse.openrobotics.org/t/fusionsdf-export-fusion-360-cad-designs-to-sdf/39430 "2024-12-27T07:56:36Z")

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Hi all, I created a small tool to export Fusion 360 designs to SDF. The tool is called FusionSDF and can be found at GitHub - andreasBihlmaier/FusionSDF: Export Fusion 360 designs to SDF (Simulation Description Format). …

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## [MATLAB toolkit for generating URDF](https://discourse.openrobotics.org/t/matlab-toolkit-for-generating-urdf/41122)

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**Author:** [@artineering](https://discourse.openrobotics.org/u/artineering)\
**Replies:** 0\
**Last updated:** [December 16, 2024, 7:27pm UTC](https://discourse.openrobotics.org/t/matlab-toolkit-for-generating-urdf/41122 "2024-12-16T19:27:15Z")

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I have shared a MATLAB toolkit for generating URDF files. MATLAB URDF Builder I would appreciate feedback, suggestions and contributions to make this library better. I hope somebody other than me finds this toolkit us…

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## [Extending URDF to include physical interfaces (plugs) and computing components (e.g., control boxes)](https://discourse.openrobotics.org/t/extending-urdf-to-include-physical-interfaces-plugs-and-computing-components-e-g-control-boxes/41061)

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**Author:** [@mscuser73](https://discourse.openrobotics.org/u/mscuser73)\
**Replies:** 4\
**Last updated:** [December 14, 2024, 12:44am UTC](https://discourse.openrobotics.org/t/extending-urdf-to-include-physical-interfaces-plugs-and-computing-components-e-g-control-boxes/41061 "2024-12-14T00:44:14Z")

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Hi all, currently we are working on ROS2-based networked (distributed) robotic systems with focus on communication aspects. By doing so, it became clear to us that current URDF specifications lack a way to represent: P…

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## [ACDC4Robot: a new tool for robot description formats](https://discourse.openrobotics.org/t/acdc4robot-a-new-tool-for-robot-description-formats/38534)

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**Author:** [@Nuofan-SUSTech](https://discourse.openrobotics.org/u/Nuofan-SUSTech)\
**Replies:** 0\
**Last updated:** [July 9, 2024, 7:01pm UTC](https://discourse.openrobotics.org/t/acdc4robot-a-new-tool-for-robot-description-formats/38534 "2024-07-09T19:01:37Z")

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It is an important needs for the community to export robot model for simulation from design. Tools like fusion2urdf, fusion2pybullet lacks of update and maintenance. Otherwise, the format URDF (Unified Robot Description…

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## [\[URDF-NG\] ROS2 URDF2 discussion](https://discourse.openrobotics.org/t/urdf-ng-ros2-urdf2-discussion/511)

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**Author:** [@hauptmech](https://discourse.openrobotics.org/u/hauptmech)\
**Replies:** 36\
**Last updated:** [April 9, 2024, 4:35pm UTC](https://discourse.openrobotics.org/t/urdf-ng-ros2-urdf2-discussion/511 "2024-04-09T16:35:37Z")

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What does the next version of URDF look like? There was a discussion in the google group around URDF and SDF in 2.0. Later a live meeting was held. Summary notes are here. The discussion so for seems to be leaning tow…

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## [URDF Dataset and Analysis](https://discourse.openrobotics.org/t/urdf-dataset-and-analysis/32685)

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**Author:** [@Daniella1](https://discourse.openrobotics.org/u/Daniella1)\
**Replies:** 0\
**Last updated:** [August 2, 2023, 5:59pm UTC](https://discourse.openrobotics.org/t/urdf-dataset-and-analysis/32685 "2023-08-02T17:59:58Z")

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With the previous discussions on URDF in mind, we have created a public dataset containing URDF files from different sources. The files were analyzed to find commonalities and discrepancies across files, and compare URD…

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## [URDF survey results (conducted December 2022)](https://discourse.openrobotics.org/t/urdf-survey-results-conducted-december-2022/30025)

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**Author:** [@Daniella1](https://discourse.openrobotics.org/u/Daniella1)\
**Replies:** 0\
**Last updated:** [February 28, 2023, 6:02pm UTC](https://discourse.openrobotics.org/t/urdf-survey-results-conducted-december-2022/30025 "2023-02-28T18:02:43Z")

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Last December Peter Corke and I posted a survey related to URDF and its usage. We would like to thank everyone that participated in the survey for their detailed responses! We have analyzed the results, and uploaded…

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## [Converting SDFormat XML into URDF C++ structuresr](https://discourse.openrobotics.org/t/converting-sdformat-xml-into-urdf-c-structuresr/28331)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 0\
**Last updated:** [November 16, 2022, 6:02am UTC](https://discourse.openrobotics.org/t/converting-sdformat-xml-into-urdf-c-structuresr/28331 "2022-11-16T06:02:28Z")

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Demonstrating SDFormat XML as a robot description format instead of URDF XML using sdformat\_urdf parser plugin. The parser aims to remove the need for maintaining multiple description files for the same robot. Other ROS…

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## [SDFormat 1.8: Composition Proposal](https://discourse.openrobotics.org/t/sdformat-1-8-composition-proposal/16630)

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**Author:** [@EricCousineau-TRI](https://discourse.openrobotics.org/u/EricCousineau-TRI)\
**Replies:** 1\
**Last updated:** [October 1, 2020, 6:00pm UTC](https://discourse.openrobotics.org/t/sdformat-1-8-composition-proposal/16630 "2020-10-01T18:00:56Z")

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We (Addisu, Steve, and myself) are doing some more development on SDFormat as part of a project funded through my employer, Toyota Research Institute. At this point, we’re targeting SDFormat 1.8 / sdformat11 for early D…

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## [SDFormat: Pose Frame Semantics Proposal](https://discourse.openrobotics.org/t/sdformat-pose-frame-semantics-proposal/9852)

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**Author:** [@EricCousineau-TRI](https://discourse.openrobotics.org/u/EricCousineau-TRI)\
**Replies:** 9\
**Last updated:** [September 18, 2019, 9:48pm UTC](https://discourse.openrobotics.org/t/sdformat-pose-frame-semantics-proposal/9852 "2019-09-18T21:48:55Z")

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Howdy! I am robotics software developer for Toyota Research Institute, part of the team working towards robust manipulation. For the past few months, I have been working with @scpeters and @azeey at OSRC to start improv…

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## [CATIA V5 DAE and URDF exporter](https://discourse.openrobotics.org/t/catia-v5-dae-and-urdf-exporter/6853)

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**Author:** [@OpenR2](https://discourse.openrobotics.org/u/OpenR2)\
**Replies:** 4\
**Last updated:** [November 25, 2018, 5:19am UTC](https://discourse.openrobotics.org/t/catia-v5-dae-and-urdf-exporter/6853 "2018-11-25T05:19:48Z")

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I am working on a CATIA V5 DAE and URDF exporter. I am wondering if anyone else has created a converter from one of the popular “industrial” grade CAD systems. Are there any suggestions, hints, or tips for the best possi…

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## [Some-one should work on plugin which export URDF from xacro/Solidworks. wouldn't that be nice?](https://discourse.openrobotics.org/t/some-one-should-work-on-plugin-which-export-urdf-from-xacro-solidworks-wouldnt-that-be-nice/6029)

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**Author:** [@elvenRobot](https://discourse.openrobotics.org/u/elvenRobot)\
**Replies:** 4\
**Last updated:** [September 20, 2018, 10:54am UTC](https://discourse.openrobotics.org/t/some-one-should-work-on-plugin-which-export-urdf-from-xacro-solidworks-wouldnt-that-be-nice/6029 "2018-09-20T10:54:22Z")

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There are many issues with SolidWorks to URDF plugin, and there is not support. Anybody has view on this!

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## [Add attribute to indicate if a mesh is a convex hull?](https://discourse.openrobotics.org/t/add-attribute-to-indicate-if-a-mesh-is-a-convex-hull/4479)

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**Author:** [@Levi-Armstrong](https://discourse.openrobotics.org/u/Levi-Armstrong)\
**Replies:** 11\
**Last updated:** [May 7, 2018, 4:41pm UTC](https://discourse.openrobotics.org/t/add-attribute-to-indicate-if-a-mesh-is-a-convex-hull/4479 "2018-05-07T16:41:25Z")

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Would the maintainer be open to adding an an attribute to the mesh tag indicating if the mesh is a convex hull? The default would be false. \<mesh filename="" convex="true" /\> The use-case here is to utilize this infor…

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## [Support the PLY geometry format in URDF?](https://discourse.openrobotics.org/t/support-the-ply-geometry-format-in-urdf/4325)

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**Author:** [@GarrettJohnson](https://discourse.openrobotics.org/u/GarrettJohnson)\
**Replies:** 4\
**Last updated:** [March 29, 2018, 1:58am UTC](https://discourse.openrobotics.org/t/support-the-ply-geometry-format-in-urdf/4325 "2018-03-29T01:58:26Z")

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Hello! I posted over in the URDF Github, but this place seems to be a bit more active. At the moment, the URDF spec only seems to mention Collada / DAE and STL file formats for the mesh node. STL, however, doesn’t suppo…

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## [Common location for sensor URDF files?](https://discourse.openrobotics.org/t/common-location-for-sensor-urdf-files/1758)

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**Author:** [@130s](https://discourse.openrobotics.org/u/130s)\
**Replies:** 5\
**Last updated:** [January 12, 2018, 7:10pm UTC](https://discourse.openrobotics.org/t/common-location-for-sensor-urdf-files/1758 "2018-01-12T19:10:11Z")

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For example, in turtlebot\_description there are some sensors’ xacro, mesh and all that are enough for ROS usecases (and for visualizing on Gazebo too). Failing to find so far a robot-agnostic location where I can get Kin…

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## [SDF Joint/Link additional info (Electronics + Mechanical fit)](https://discourse.openrobotics.org/t/sdf-joint-link-additional-info-electronics-mechanical-fit/3647)

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**Author:** [@fosselius](https://discourse.openrobotics.org/u/fosselius)\
**Replies:** 0\
**Last updated:** [January 10, 2018, 9:50am UTC](https://discourse.openrobotics.org/t/sdf-joint-link-additional-info-electronics-mechanical-fit/3647 "2018-01-10T09:50:18Z")

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I am working on an application to make it easier to cooperate on open robotics hardware. In order to keep track of what (still) fits together I need a way to store information about how the mechanical parts attach togeth…

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## [Transparency in Gazebo with XACRO](https://discourse.openrobotics.org/t/transparency-in-gazebo-with-xacro/3215)

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**Author:** [@Piotr\_Polatowski](https://discourse.openrobotics.org/u/Piotr_Polatowski)\
**Replies:** 0\
**Last updated:** [November 20, 2017, 11:36am UTC](https://discourse.openrobotics.org/t/transparency-in-gazebo-with-xacro/3215 "2017-11-20T11:36:55Z")

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I tried to display transparent boxes in Gazebo with XACRO. The box\_color is rendered properly in RVIZ, however Gazebo/GreyTransparent is only Grey, not transparent in Gazebo. Is it actually possible to make it transpare…

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## [Robot Description Tools and Formats @ ROSCon 2017](https://discourse.openrobotics.org/t/robot-description-tools-and-formats-roscon-2017/2025)

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**Author:** [@kavonszadkowski](https://discourse.openrobotics.org/u/kavonszadkowski)\
**Replies:** 1\
**Last updated:** [June 23, 2017, 9:03am UTC](https://discourse.openrobotics.org/t/robot-description-tools-and-formats-roscon-2017/2025 "2017-06-23T09:03:07Z")

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Hi everyone, I was thinking of submitting a proposal to ROSCon 2017 for a presentation on the state of Phobos, the robot model editing tool based on Blender I’ve been developing on and off over the last years, also talk…

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## [URDFDOM\_PY missing from the KINETIC Distro?](https://discourse.openrobotics.org/t/urdfdom-py-missing-from-the-kinetic-distro/1957)

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**Author:** [@Shai](https://discourse.openrobotics.org/u/Shai)\
**Replies:** 2\
**Last updated:** [June 16, 2017, 10:08am UTC](https://discourse.openrobotics.org/t/urdfdom-py-missing-from-the-kinetic-distro/1957 "2017-06-16T10:08:11Z")

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Hi, I recently installed ROS KINETIC under Ubuntu 16.04 LTS for a course in Robotics I am taking. One of the course projects requires the use of said package to parse a URDF file. The CMAKE for the project failed, una…

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## [Some problems of conversion of xacro to urdf](https://discourse.openrobotics.org/t/some-problems-of-conversion-of-xacro-to-urdf/1669)

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**Replies:** 1\
**Last updated:** [April 18, 2017, 5:43am UTC](https://discourse.openrobotics.org/t/some-problems-of-conversion-of-xacro-to-urdf/1669 "2017-04-18T05:43:39Z")

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Hi,everyone I’m reading the book《mastering ros robotics programming》,and in chapter 2 I’m meeting some problems when I try to convert the xacro file to urdf file in the demo “seven\_dof\_arm”. My system is Ubuntu 16.04 & …

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## [Project: Better workflow for robot descriptions - URDF/XACRO](https://discourse.openrobotics.org/t/project-better-workflow-for-robot-descriptions-urdf-xacro/1427)

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**Author:** [@susieagerholm](https://discourse.openrobotics.org/u/susieagerholm)\
**Replies:** 0\
**Last updated:** [March 5, 2017, 6:51pm UTC](https://discourse.openrobotics.org/t/project-better-workflow-for-robot-descriptions-urdf-xacro/1427 "2017-03-05T18:51:58Z")

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Update 2017-03-21: We have now closed the survey. Thanks to everyone who participated :slight\_smile: Dear members of the ROS community, We are two Software Engineering students at the IT University in Copenhagen, who a…

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## [\[URDF-NG\] Next-generation robot descriptions](https://discourse.openrobotics.org/t/urdf-ng-next-generation-robot-descriptions/222)

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**Author:** [@hauptmech](https://discourse.openrobotics.org/u/hauptmech)\
**Replies:** 29\
**Last updated:** [September 26, 2016, 1:17am UTC](https://discourse.openrobotics.org/t/urdf-ng-next-generation-robot-descriptions/222 "2016-09-26T01:17:55Z")

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There is some nice discussion on how to improve the current URDF format and parsers to fill some immediate needs. This topic is for questioning everything and discussing what the perfect way to share and reuse informati…

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## [Do you want to add export on Onshape?](https://discourse.openrobotics.org/t/do-you-want-to-add-export-on-onshape/353)

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**Author:** [@Pyo](https://discourse.openrobotics.org/u/Pyo)\
**Replies:** 4\
**Last updated:** [July 19, 2016, 3:15pm UTC](https://discourse.openrobotics.org/t/do-you-want-to-add-export-on-onshape/353 "2016-07-19T15:15:10Z")

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‘Onshape is the first and only full-cloud 3D CAD system that lets everyone on a design team simultaneously works together using a web browser, phone or tablet. Create complex parts, assemblies, and detailed drawings all …

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## [\[URDF-NG\] Parser tools wishlist](https://discourse.openrobotics.org/t/urdf-ng-parser-tools-wishlist/55)

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**Author:** [@jackie](https://discourse.openrobotics.org/u/jackie)\
**Replies:** 3\
**Last updated:** [March 24, 2016, 12:41am UTC](https://discourse.openrobotics.org/t/urdf-ng-parser-tools-wishlist/55 "2016-03-24T00:41:21Z")

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I have a few ideas for the “next generation” of robot description format parsing tools, inspired by the recent community meeting, as well as discussions on Github and in person. This is a big, somewhat freeform brainstor…

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## [\[URDF-NG\] Link and frame concepts](https://discourse.openrobotics.org/t/urdf-ng-link-and-frame-concepts/56)

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**Author:** [@traversaro](https://discourse.openrobotics.org/u/traversaro)\
**Replies:** 0\
**Last updated:** [March 19, 2016, 5:29pm UTC](https://discourse.openrobotics.org/t/urdf-ng-link-and-frame-concepts/56 "2016-03-19T17:29:40Z")

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The current version of the URDF specification has no separation between the concept of a frame of reference (i.e. a point and orientation uniquely defined in the 3D space) and of link (a physical rigid body that has a ma…