Xacro to URDF Converter — expand xacro files online, no ROS install
Free online xacro to URDF converter: expands properties, math expressions, macros, conditionals, args, and multi-file includes directly in your browser. Nothing is uploaded.
What this converter supports
| Xacro feature | Status |
|---|---|
xacro:property (value and default) | Supported |
${…} math expressions (pi, trig, arithmetic, comparisons) | Supported |
xacro:macro with keyword, default, and *block params + xacro:insert_block | Supported |
xacro:if / xacro:unless | Supported |
xacro:arg and $(arg name) | Supported (defaults) |
xacro:include | Supported — select the included files together with the main file |
$(find package), YAML loading, ros2 param substitutions | Not resolvable in a browser — reported as warnings, never silently dropped |
Why convert xacro to URDF without ROS?
The reference xacro tool ships as a ROS package, so expanding a robot description normally requires a full ROS installation or a Docker container. But many consumers of URDF — MuJoCo importers, Isaac Sim, PyBullet, web viewers, CI pipelines on minimal runners — need the expanded URDF, not the xacro source. This tool performs the expansion entirely client-side: properties and math are evaluated, macros are instantiated, conditionals resolved, and the result is plain URDF you can download. For how xacro's macro system actually works, see what is xacro?
Validate the result in one click: paste the output into the URDF validator to check kinematics, inertia sanity, and joint limits. Need batch conversion, CI integration, or CAD→URDF pipelines? I build those as freelance projects — work with me →