Import URDF | OpenRGD

COMMAND

Import to a partial profile.

URDF importshell

rgd import robot.urdf --out partial-robot

OUTPUT

Only two Foundation modules are emitted.

partial-robotshell

partial-robot/
└── spec/
    └── 01_foundation/
        ├── description.jsonc
        └── actuation_dynamics.jsonc

SUPPORTED EVIDENCE

The importer preserves source facts that it can justify.

Robot + links

Robot name, links and supported structural relationships.

Inertials

Mass, origin and complete inertia tensor when present.

Joint topology

Joint name/type, parent-child connectivity, origin and axis.

Limits

Declared revolute/prismatic limits using type-correct units.

Dynamics

Source damping and friction when authored.

Mimic

Mimic relationships remain explicit rather than inferred.

FAIL CLOSED

Missing or malformed data does not receive a convenient default.

Absent numeric values remain absent. Malformed or non-finite physical values fail import. The importer does not infer transmissions, controllers, vendor plugins, bus addresses or calibration.

OPTIONAL ENRICHMENT

Enrichment is a separate explicit operation.

Seed enrichmentshell

rgd alive robot.urdf --out RGD-robot --seed default

The resulting project records seed_compatibility_status = UNVERIFIED. A valid source-tree hash does not prove that inherited calibration, HAL, safety or behavioral assumptions fit the imported body.

Extract what the URDF proves. Invent nothing.