URDF Templates

Instructions

When working with URDF files:

1. Use the provided templates as starting points
2. Validate against the checklist in validation.md
3. Include safety annotations for joint limits
4. Add comments explaining each section

Template Selection

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

1. Always specify joint limits - Never leave limits undefined
2. Include inertial properties - Required for physics simulation
3. Add collision geometry - Required for safe simulation
4. Document mass values - Use realistic values

Reference

See validation.md for validation rules. See templates/ for complete templates.