neka-nat / xurdf

Parser for urdf and xacro

xurdf

Parse URDF and Xacro.

Core features

• Parse URDF and Xacro
• Written by Rust
• Python bindings

Installation

pip install xurdfpy

Getting started

Rust example is here.

You can also use python binding.

import xurdfpy

robot = xurdfpy.parse_urdf_file("data/test_robot.urdf")
print(robot)

Supported Xacro tags

• property
• property block
• macro
• include
• if/unless
• rospack command
• Yaml
• element/attribute