URDF
- URDF appears to have originated with ROS somehow
- Spec: (https://wiki.ros.org/urdf/XML)
-
Matlab has a good explanation (https://www.mathworks.com/help/sm/ug/urdf-model-import.html)
- A good article on creating a USD from a URDF
- (https://medium.com/@jmake/a-practical-approach-to-the-nvidia-omniverse-robotics-simulation-toolkit-part-1-c7f068791954)
- The repo:
yourdfpy
- A urdf viewer (https://yourdfpy.readthedocs.io/en/latest/)mki
- unfortunately it requires pyglet<2
pip install "pyglet<2"
- Development guide: (https://urdfpy.readthedocs.io/en/latest/development/index.html#development)
Coordinate System
- This document (about SDF) goes into how URDF defines them (http://sdformat.org/tutorials?tut=pose_frame_semantics&ver=1.5)
From the MatLab article: