URDF Templates
Instructions
When working with URDF files:
- Use the provided templates as starting points
- Validate against the checklist in validation.md
- Include safety annotations for joint limits
- Add comments explaining each section
Template Selection
| Robot Type | Template | Use Case | |------------|----------|----------| | Mobile Robot | mobile-robot.urdf | Wheeled robots, differential drive | | Humanoid Base | humanoid-base.urdf | Bipedal robots, upper body |
URDF Structure Overview
<robot name="robot_name">
<!-- Links define physical parts -->
<link name="base_link">
<visual>...</visual>
<collision>...</collision>
<inertial>...</inertial>
</link>
<!-- Joints connect links -->
<joint name="joint_name" type="revolute">
<parent link="parent_link"/>
<child link="child_link"/>
<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
</joint>
</robot>
Safety Requirements
- Always specify joint limits - Never leave limits undefined
- Include inertial properties - Required for physics simulation
- Add collision geometry - Required for safe simulation
- Document mass values - Use realistic values
Reference
See validation.md for validation rules. See templates/ for complete templates.