URDF improvements

[AndyZe]

@peci1

@AndyZe

I want the ability to specify acceleration and jerk limits for joints

I never understood this need. URDF is for visualization. I’d expect acceleration and jerk limits to be a part of SDF. Or?

So the URDF was intended for visualization purposes. Don’t you think acceleration limits to avoid abrupt motion are also part of good visualizations?

If velocity and acceleration limits are part of the URDF, it only makes sense to add jerk as well.

[ipa-hsd]

I recently created a tool to convert EMF Ecore (Eclipse Modeling Project | The Eclipse Foundation) to python classes as well as Json schema: GitHub - ipa-hsd/urdf-model. This ecore model is converted from urdf.xsd

The python classes can be populated by parsing URDF file: see here

The generated Json schema is used for GitHub - redhat-developer/yaml-language-server: Language Server for YAML Files, which can be used for schema validation, code completion, etc.

For future, I will be using the ecore meta-model also to update the schema documentation.

Happy to get some comments and feedback.