.xacro → .sdf
Xacro to SDF
Convert a robot description from Xacro to SDF in the browser. Nothing is installed and nothing is queued: the file is read, written in the other format, and handed back with a list of anything that could not be carried across.
Convert a file
Drop your Xacro here
Include the files it pulls in — select them all at once, or drop the whole folder.
Files are read on our server and deleted after a day. Nothing is published.
Reading the Xacro
Writing the SDF
Look at the file first
What this conversion costs
Nothing structural. Every bundled sample — a six-axis arm, a gripper, a generic quadruped and the Unitree A1 at 23 links — came through this direction with its links, joints, geometry and inertia intact. Your model may still hit something these do not cover, and if it does the converted file will say so at the top.
Two steps in one
Macros are expanded, then the robot is written as SDF. Upload the entry file with everything it includes.
The two formats
- Xacro .xacro
- URDF with macros, properties and includes — expanded before anything can read it.
- SDF .sdf
- Gazebo's format, which describes a whole world rather than a single robot.
Converting is rarely the whole job. Once you have the SDF, the viewer shows what actually came across — collision geometry against visual, joint limits, where the mass sits — and the physics lab answers the question a file cannot: whether the robot stands up when gravity is switched on.