构建机器人统一描述目录，让模型信息可共享、可扩展、标准化。
Beyond URDF: The Universal Robot Description Directory for Shared, Extensible, and Standardized Robot Models
- 用模块化JSON/YAML结构组织机器人衍生信息，替代传统格式。
- 从URDF自动生成URDD，支持多平台可视化与高效构建核心算法。
- 适合需要跨框架复用机器人数据的研究者与开发者使用。
机器人通常通过规格文件（如URDF、SDF、MJCF、USD）描述，仅包含基础的运动学、动力学和几何信息。这导致仿真、规划与控制等下游应用需反复推导更丰富的数据，造成重复计算、实现碎片化且缺乏统一标准。本文提出通用机器人描述目录（URDD），一种模块化表示方式，将推导出的机器人信息组织为结构化、易解析的JSON和YAML模块。我们开源了工具链，可从URDF自动生成URDD，提供基于Rust的Bevy可视化支持，并配备基于JavaScript/Three.js的网页查看器。在多个机器人平台上的实验表明，URDD能高效生成，包含远超标准规格文件的丰富信息，并可直接用于构建核心机器人子程序。URDD为减少冗余、建立跨框架共享标准提供了统一可扩展的资源。最后讨论了本工作的局限性与影响。
原文摘要 · Abstract (English)
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream applications such as simulation, planning, and control must repeatedly re-derive richer data, leading to redundant computations, fragmented implementations, and limited standardization. In this work, we introduce the Universal Robot Description Directory (URDD), a modular representation that organizes derived robot information into structured, easy-to-parse JSON and YAML modules. Our open-source toolkit automatically generates URDDs from URDFs, with a Rust implementation supporting Bevy-based visualization. Additionally, we provide a JavaScript/Three.js viewer for web-based inspection of URDDs. Experiments on multiple robot platforms show that URDDs can be generated efficiently, encapsulate substantially richer information than standard specification files, and directly enable the construction of core robotics subroutines. URDD provides a unified, extensible resource for reducing redundancy and establishing shared standards across robotics frameworks. We conclude with a discussion on the limitations and implications of our work.
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