I tested URDF format conversion on NASA Valkyrie, UR5, and Franka Panda results and a free tool

ROS ROS General
1

I validated and converted URDFs from 5 popular robots to both
Gazebo SDF and MuJoCo MJCF format.

The tool is free to try (14-day Pro trial, no credit card):

  • Validate: POST /api/urdf/validate
  • Convert to SDF: POST /api/urdf/convert-format?target=sdf
  • Convert to MJCF: POST /api/urdf/convert-format?target=mjcf

Python SDK: pip install roboinfra-sdk
GitHub Action: roboinfra/validate-urdf-action@v1