Feature | Default URDF | Option A Start with SDF | Option B Start with Collada 1.5 |
---|---|---|---|
Serial kinematic chains | Yes | Yes | Yes |
Special frames: base_link, tool_0 | Not enforced | gripper_link | No/Yes[3] |
Primitives (spheres, cylinders, etc) | Yes | Yes | Yes |
Link materials (color, alpha, texture) | Yes | Yes | Yes |
Collision geometry | Yes | Yes | Yes[4] |
Joint limits (position, velocity, accel) | Yes (pos, vel, eff) | Yes (pos, vel, eff, stiffness) | Yes (pos, vel, acc, dec, jerk)[5] |
Sensor definition | Yes (proposed) | Yes | Yes - camera/optics only[6] |
6 DOF floating joints (used for robot or sensor calibration) | Yes (floating) | Use a model | Yes[7] |
Meshes stored separately | Yes | Yes | Yes[8] |
URDF -> X conversion | Yes | Yes | Yes |
Feature | Default URDF | Option A Start with SDF | Option B Start with Collada 1.5 |
---|---|---|---|
Parallel kinematic chains (closed loops) | No | Yes | Yes |
Rich set of parameters | No | Yes | Yes |
Forward compatibility | N/A | Yes | Yes |
Extensible | No | Yes? | Yes[9] |
Independent chains (multiple robots) ? | Yes | Yes | Yes |
World and component modeling | Not intended | Yes | Yes |
Human readable | Yes | Yes | Not really (large models quite complex) |
Easy to learn | Yes | Yes | No[1] |
Multiple levels of detail for collision avoidance | No | No | No[10] |
Sensors: intrinsic parameters | No | Yes | Yes[11] |
Zero State/Default State (joint positions)[13] | No (zero state == default) | No | No (?) |
Saved states - general (maintenance pose, tool change pose) | No | No (?) | No (?) |
Tool changer/mounting positions (connect/disconnect) | No | No | No |
Tool center point (TCP) | No (not explicit) | No (not explicit) | Yes (explicit) |
Discrete state joints (extend/retract) | No | No (?) | No (?) |
Mutable joint limits | No | No | Yes (use formulas) |
DH compensation (mutable parameters for as-built geometry compensation) | No | No | No |
Material properties for each body, not just each link | No | Yes | Yes |
Support for move groups[13] | No | No | No |
Hardware parameters | No | No | No |
Import/export from/to CAD | SolidWorks (sw2urdf) | SolidWorks (wpi sw2sdf) | Many editors natively, others via plugin[12] |
Simpler name space handling | | ? | ? |
Include x (i.e. gripper) | No | Yes | Yes[8] |
Industry 4.0 Standard | No | No | Yes[2] |