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With the increasing complexity of robot systems, it is necessary to simulatethem before deployment. To do this, a model of the robot's kinematics ordynamics is required. One of the most commonly used formats for modeling robotsis the Unified Robot Description Format (URDF). The goal of this article is tounderstand how URDF is currently used, what challenges people face when workingwith it, and how the community sees the future of URDF. The outcome canpotentially be used to guide future research. This article presents the resultsfrom a survey based on 510 anonymous responses from robotic developers ofdifferent backgrounds and levels of experience. We find that 96.8% of theparticipants have simulated robots before, and of them 95.5% had used URDF. Weidentify a number of challenges and limitations that complicate the use ofURDF, such as the inability to model parallel linkages and closed-chainsystems, no real standard, lack of documentation, and a limited number ofdynamic parameters to model the robot. Future perspectives for URDF are alsodetermined, where 53.5% believe URDF will be more commonly used in the future,12.2% believe other standards or tools will make URDF obsolete, and 34.4% arenot sure what the future of URDF will be. Most participants agree that there isa need for better tooling to ensure URDF's future use.

Understanding URDF: A Survey Based on User Experience