Software

urdfdom

A C++ library for parsing URDF (Unified Robot Description Format) XML files into core robot data structures describing links, joints and geometry.

Facts

Checked on GitHub on 6 Nov 2026.

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) at commit 5c261d6 (opens in a new tab), on 25 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 9 Nov 2026.
Commercial use: Yes

Provides core data structures for robot models and a simple XML parser that fills them from a URDF file.
Supports URDF format versions 1.0, 1.1 and 1.2; a missing version attribute is treated as 1.0.
Version 1.1 adds quaternion orientation via the quat_xyzw attribute and capsule geometry.
Version 1.2 adds acceleration, deceleration and jerk joint limits and relaxes some joint limit requirements.
Joint types include revolute, continuous, prismatic, fixed, floating and planar, with box, cylinder, sphere and mesh geometry.
Can be used with ROS, where package.xml is added during the ROS release process; installing from source over ROS Debian packages is described as risky.

Written by Robotheca from the project's README (opens in a new tab) at commit b82e8f1, not by its creator.

Facts read at commit 5c261d6

Robotheca read the repository at two versions: the summary at b82e8f1 and the facts at 5c261d6 (read on 6 Nov 2026).

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How to install it, in the creator's words: The project's README (opens in a new tab)

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