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.
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? See the Pro tools →