Easy Xacro

A GUI application to convert xacro URDF files to single URDF files with customizable arguments, plus a standalone package generator and URDF previewer.

Features

• Convert xacro files to URDF with GUI for argument configuration
• Generate standalone packages with URDF and all meshes
• Preview URDF files in 3D viewer

Installation

# Install uv if you haven't already
curl -LsSf https://astral.sh/uv/install.sh | sh

uv sync

Usage

Xacro to URDF Converter

uv run easy-xacro

URDF Preview

uv run urdf-preview

Controls in URDF Viewer

• Mouse drag: Rotate view
• Mouse wheel: Zoom in/out
• 'a' key: Toggle axis markers (off, world frame, every frame)
• 'w' key: Toggle wireframe mode
• 'c' key: Toggle back face culling

Development

uv add --dev pytest
uv run pytest