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 incl...
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| Other Authors: | |
| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/153891 |
| _version_ | 1826213232126197760 |
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| author | Nocito, Marco |
| author2 | Devadas, Srinivas |
| author_facet | Devadas, Srinivas Nocito, Marco |
| author_sort | Nocito, Marco |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T15:45:32Z |
| format | Thesis |
| id | mit-1721.1/153891 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T15:45:32Z |
| publishDate | 2024 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1538912024-03-22T03:09:09Z URDF Studio: Tools for the visualization and verification of Universal Robot Description Format Nocito, Marco Devadas, Srinivas Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science 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. M.Eng. 2024-03-21T19:13:59Z 2024-03-21T19:13:59Z 2024-02 2024-03-04T16:38:00.078Z Thesis https://hdl.handle.net/1721.1/153891 In Copyright - Educational Use Permitted Copyright retained by author(s) https://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Nocito, Marco URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title | URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title_full | URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title_fullStr | URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title_full_unstemmed | URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title_short | URDF Studio: Tools for the visualization and verification of Universal Robot Description Format |
| title_sort | urdf studio tools for the visualization and verification of universal robot description format |
| url | https://hdl.handle.net/1721.1/153891 |
| work_keys_str_mv | AT nocitomarco urdfstudiotoolsforthevisualizationandverificationofuniversalrobotdescriptionformat |