Domain-specific languages for kinematic chains and their solver algorithms: lessons learned for composable models
Sven Schneider,Nico Hochgeschwender,Herman Bruyninckx,Sven Schneider,Nico Hochgeschwender,Herman Bruyninckx
The Unified Robot Description Format (URDF) and, to a lesser extent, the COLLAborative Design Activity (COLLADA) format are two of the most popular domain-specific languages (DSLs) to represent kinematic chains in robotics with support in many tools including Gazebo, MoveIt!, KDL or IKFast. In this paper we analyse both DSLs with respect to their structure and semantics as seen by tools that produ...
