GitHub - doudou/urdfdom: URDF parser

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Name		Name	Last commit message	Last commit date
Latest commit History 585 Commits
.travis		.travis
cmake		cmake
urdf_parser		urdf_parser
urdf_parser_py		urdf_parser_py
xsd		xsd
.gitignore		.gitignore
.travis.yml		.travis.yml
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.txt		README.txt

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The URDF (U-Robot Description Format) library
  provides core data structures and a simple XML parsers
  for populating the class data structures from an URDF file.

For now, the details of the URDF specifications reside on
  http://ros.org/wiki/urdf