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

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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2024

Author dc:creator

• Nocito, Marco

Advisor dc:contributor.advisor

• Devadas, Srinivas

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/153891

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/153891