Dear all,<br><br>We are currently working on a format that allows us to 
represent semantic information about robots. This is additional 
information that is not included in the URDF file (e.g., the notion of 
groups of joints/links).<br>
For more information and a place to give your suggestions/comments, please see <a href="http://www.ros.org/wiki/srdf" target="_blank">http://www.ros.org/wiki/srdf</a><br><br>Best regards,<br>Ioan<br><br>