robot_model contains packages for modeling various
aspects of robot information, specified in the Xml Robot
Description Format (URDF). The core package of this stack
is urdf, which parses URDF files, and constructs an
object model (C++) of the robot.
John Hsu johnhsu@willowgarage.com, Wim Meeussen
BSD,GPL,MIT
http://ros.org/wiki/robot_model