FICHA · MANJARO

urdfdom

The URDF (U-Robot Description Format) library provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.

Library
Dev
ROBOTICS
SIMULATION
Dependency only
Same app · 2 sources

official+codex · reviewed · Jun 5, 2026 description in en

Description

Robot model descriptions in URDF XML can be parsed into C++ data structures with this ROS-adjacent library. urdfdom is for robotics developers loading links, joints, geometry, and robot metadata from URDF files.

Validate URDF files before feeding them into planning or control stacks. Bad robot descriptions can misrepresent geometry, transforms, limits, collision models, and downstream simulation or hardware behavior.

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