 | This article's lead section may be too short to adequately summarize the key points.(September 2024) |
| Filename extension | .URDF |
|---|---|
| Developed by | Robot Operating System |
| Type of format | XML |
| Website | wiki |
URDF, Unified Robot Description Format is an XML format for representing a robot model. [1] URDF is commonly used in Robot Operating System (ROS) tools such as rviz (Ros Visualization tool) and Gazebo simulator. [2] The model consists of links and joints motion.
Dia is free and open source general-purpose diagramming software, developed originally by Alexander Larsson. It uses a controlled single document interface (SDI) similar to GIMP and Inkscape.
A web service (WS) is either:
The XML Metadata Interchange (XMI) is an Object Management Group (OMG) standard for exchanging metadata information via Extensible Markup Language (XML).
A topic map is a standard for the representation and interchange of knowledge, with an emphasis on the findability of information. Topic maps were originally developed in the late 1990s as a way to represent back-of-the-book index structures so that multiple indexes from different sources could be merged. However, the developers quickly realized that with a little additional generalization, they could create a meta-model with potentially far wider application. The ISO/IEC standard is formally known as ISO/IEC 13250:2003.
The Object Constraint Language (OCL) is a declarative language describing rules applying to Unified Modeling Language (UML) models developed at IBM and is now part of the UML standard. Initially, OCL was merely a formal specification language extension for UML. OCL may now be used with any Meta-Object Facility (MOF) Object Management Group (OMG) meta-model, including UML. The Object Constraint Language is a precise text language that provides constraint and object query expressions on any MOF model or meta-model that cannot otherwise be expressed by diagrammatic notation. OCL is a key component of the new OMG standard recommendation for transforming models, the Queries/Views/Transformations (QVT) specification.
Enterprise information integration (EII) is the ability to support a unified view of data and information for an entire organization. In a data virtualization application of EII, a process of information integration, using data abstraction to provide a unified interface for viewing all the data within an organization, and a single set of structures and naming conventions to represent this data; the goal of EII is to get a large set of heterogeneous data sources to appear to a user or system as a single, homogeneous data source.
COLLADA is an interchange file format for interactive 3D applications. It is managed by the nonprofit technology consortium, the Khronos Group, and has been adopted by ISO as a publicly available specification, ISO/PAS 17506.
A UML tool is a software application that supports some or all of the notation and semantics associated with the Unified Modeling Language (UML), which is the industry standard general-purpose modeling language for software engineering.
A metadata registry is a central location in an organization where metadata definitions are stored and maintained in a controlled method.
A sitemap is a list of pages of a web site within a domain.
The Business Process Definition Metamodel (BPDM) is a standard definition of concepts used to express business process models, adopted by the OMG. Metamodels define concepts, relationships, and semantics for exchange of user models between different modeling tools. The exchange format is defined by XSD and XMI, a specification for transformation of OMG metamodels to XML. Pursuant to the OMG's policies, the metamodel is the result of an open process involving submissions by member organizations, following a Request for Proposal (RFP) issued in 2003. BPDM was adopted in initial form in July 2007, and finalized in July 2008.
The Player Project creates free and open-source software for research into robotics and sensor systems. Its components include the Player network server and the Stage platform robotics simulators. Although accurate statistics are hard to obtain, Player is one of the most popular open-source robot interfaces in research and post-secondary education.
A robotics simulator is a simulator used to create an application for a physical robot without depending on the physical machine, thus saving cost and time. In some case, such applications can be transferred onto a physical robot without modification.
Robot Operating System is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post, and multiplex sensor data, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS is not a real-time operating system (RTOS). However, it is possible to integrate ROS with real-time computing code. The lack of support for real-time systems has been addressed in the creation of ROS 2, a major revision of the ROS API which will take advantage of modern libraries and technologies for core ROS functions and add support for real-time code and embedded system hardware.
Open-source robotics is a branch of robotics where robots are developed with open-source hardware and free and open-source software, publicly sharing blueprints, schematics, and source code. It is thus closely related to the open design movement, the maker movement and open science.
Asynchronous multi-body framework (AMBF) is an open-source 3D versatile simulator for robots developed in April 2019. This multi-body framework provides a real-time dynamic simulation of multi-bodies such as robots, free bodies, and multi-link puzzles, paired with real-time haptic interaction with various input devices. The framework integrates a real surgeon master console, haptic or not, to control simulated robots in real-time. This feature results in the simulator being used in real-time training applications for surgical and non-surgical tasks. It offers the possibility to interact with soft bodies to simulate surgical tasks where tissues are subject to deformations. It also provides a Python Client to interact easily with the simulated bodies and train neural networks on real-time data with in-loop simulation. It includes a wide range of robots, grippers, sensors, puzzles, and soft bodies. Each simulated object is represented as an afObject; likewise, the simulation world is represented as an afWorld. Both utilize two communication interfaces: state and command. Through the State command, the object can send data outside the simulation environment, while the Command allows to apply commands to the underlying afObject.
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