Part

Robot description (URDF)

You might say: robot model file

A robot description names links and joints and gives their visual, collision and inertial properties; URDF also carries joint dynamics and limits where defined.

What it does

It supplies a shared model for kinematics, collision checking, visualization and simulation.

Ask

Do the masses, inertias, frames, limits and collision shapes match the real robot?

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 4 §4.2, URDF file formatThe Universal Robot Description Format (URDF) is an XML (eXtensible Markup Language) file format used by the Robot Operating System (ROS) to describe the kinematics, inertial properties, and link geometry of robots.
2. Russ Tedrake, Robotic Manipulation, Ch. 2, Robot description files (URDF/SDF)Drake currently loads Universal Robot Description Format (URDF), Simulation Description Format (SDF), and has limited support for the MuJoCo format (MJCF).

Use it on your project

teardown-apply: hold "Robot description (URDF)" (robot-description) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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