# \#urdf

**URL:** https://discourse.openrobotics.org/tag/urdf/339.md

[Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md)

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## [RobotCAD v12.10.0 is released!](https://discourse.openrobotics.org/t/robotcad-v12-10-0-is-released/58566)

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**Author:** [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Replies:** 0\
**Last updated:** [October 4, 2026, 6:26am UTC](https://discourse.openrobotics.org/t/robotcad-v12-10-0-is-released/58566 "2026-10-04T06:26:18Z")

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It’s been a long time since I posted any news. Many new features and fixes have been released. Here is a list of some of them that have appeared in recent versions. Added RobotCAD MCP server for agentic robot assemblin…

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## [Convert in the terminal](https://discourse.openrobotics.org/t/convert-in-the-terminal/56908)

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**Author:** [@Sleem45](https://discourse.openrobotics.org/u/Sleem45)\
**Replies:** 0\
**Last updated:** [July 23, 2026, 5:04pm UTC](https://discourse.openrobotics.org/t/convert-in-the-terminal/56908 "2026-07-23T17:04:12Z")

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Would you use a free CLI tool to convert CAD assemblies to URDF? No CAD plugins. Just one command from your terminal to work in Ros directly. I’m thinking about open-sourcing the core of a tool I’ve been building over…

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## [Fully automated CAD to URDF with automatic Gazebo verification](https://discourse.openrobotics.org/t/fully-automated-cad-to-urdf-with-automatic-gazebo-verification/56857)

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**Author:** [@Sleem45](https://discourse.openrobotics.org/u/Sleem45)\
**Replies:** 1\
**Last updated:** [July 22, 2026, 1:29pm UTC](https://discourse.openrobotics.org/t/fully-automated-cad-to-urdf-with-automatic-gazebo-verification/56857 "2026-07-22T13:29:00Z")

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How much time did you spend on your last robot before it actually moved in Gazebo? Not designing it. Bringing it up. Writing URDFs. Configuring ros2\_control. Fixing TF trees. Debugging controllers that refuse to activa…

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## [Cad to urdf conversion ](https://discourse.openrobotics.org/t/cad-to-urdf-conversion/55892)

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**Author:** [@Sleem45](https://discourse.openrobotics.org/u/Sleem45)\
**Replies:** 5\
**Last updated:** [July 13, 2026, 8:27am UTC](https://discourse.openrobotics.org/t/cad-to-urdf-conversion/55892 "2026-07-13T08:27:54Z")

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If you’re a robotics engineer, you’ve probably lost hours to URDF generation. Not because the robot is complex but because the tooling is. Renaming mates. Fixing joint axes. Recreating reference frames. Starting over b…

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## [urdf\_validator v1.0 — physics-aware URDF validation (open source)](https://discourse.openrobotics.org/t/urdf-validator-v1-0-physics-aware-urdf-validation-open-source/55977)

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**Author:** [@Notlord69](https://discourse.openrobotics.org/u/Notlord69)\
**Replies:** 0\
**Last updated:** [July 1, 2026, 12:27am UTC](https://discourse.openrobotics.org/t/urdf-validator-v1-0-physics-aware-urdf-validation-open-source/55977 "2026-07-01T00:27:14Z")

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Every ROS 2 developer who’s written a URDF has hit this: check\_urdf passes your file, you launch Gazebo, and the robot collapses or explodes anyway. That’s because check\_urdf is syntax-only — it cannot tell you whether y…

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## [Sw2robot — a SolidWorks → URDF exporter with a browser-based editor (free Windows .exe)](https://discourse.openrobotics.org/t/sw2robot-a-solidworks-urdf-exporter-with-a-browser-based-editor-free-windows-exe/55616)

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**Author:** [@iory](https://discourse.openrobotics.org/u/iory)\
**Replies:** 4\
**Last updated:** [June 24, 2026, 11:21am UTC](https://discourse.openrobotics.org/t/sw2robot-a-solidworks-urdf-exporter-with-a-browser-based-editor-free-windows-exe/55616 "2026-06-24T11:21:39Z")

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Hi all, TL;DR: sw2robot is yet another SolidWorks to URDF exporter—a modern, browser-based alternative to the official sw\_urdf\_exporter (GitHub). Rather than doing all the configuration inside a SolidWorks add-in, it sa…

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## [Mobile\_Robot\_URDF Maker v4.0 is here!](https://discourse.openrobotics.org/t/mobile-robot-urdf-maker-v4-0-is-here/55630)

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**Author:** [@ali.pahlevani](https://discourse.openrobotics.org/u/ali.pahlevani)\
**Replies:** 0\
**Last updated:** [June 23, 2026, 7:34am UTC](https://discourse.openrobotics.org/t/mobile-robot-urdf-maker-v4-0-is-here/55630 "2026-06-23T07:34:55Z")

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:tada: I’m excited to announce Version 4.0; 𝘁𝗵𝗲 𝗯𝗶𝗴𝗴𝗲𝘀𝘁 𝘂𝗽𝗱𝗮𝘁𝗲 𝘆𝗲𝘁. 𝗩𝟰 transforms the tool 𝗳𝗿𝗼𝗺 𝗮 𝗨𝗥𝗗𝗙 𝗴𝗲𝗻𝗲𝗿𝗮𝘁𝗼𝗿 into a 𝗳𝘂𝗹𝗹 𝗿𝗼𝗯𝗼𝘁 𝗱𝗲𝘀𝗶𝗴𝗻-𝘁𝗼-𝘀𝗶𝗺𝘂𝗹𝗮𝘁𝗶𝗼𝗻 𝗽𝗶𝗽𝗲𝗹𝗶𝗻𝗲: pick a chassis, add sensors, tune the controller, and …

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## [ROS2 URDF Mesh File Types](https://discourse.openrobotics.org/t/ros2-urdf-mesh-file-types/54954)

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**Author:** [@jimmy-mcelwain](https://discourse.openrobotics.org/u/jimmy-mcelwain)\
**Replies:** 4\
**Last updated:** [June 4, 2026, 3:54pm UTC](https://discourse.openrobotics.org/t/ros2-urdf-mesh-file-types/54954 "2026-06-04T15:54:20Z")

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This is highly related to the discussion on this thread, but not really relevant to the title/stated purpose of the thread so I decided to make a new one. With the release of Blender 5.0, the Collada (dae) format is no …

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## [RoboInfra CI/CD APIs for URDF validation, auto-fix, MoveIt config generation, and Isaac Sim USD conversion](https://discourse.openrobotics.org/t/roboinfra-ci-cd-apis-for-urdf-validation-auto-fix-moveit-config-generation-and-isaac-sim-usd-conversion/54937)

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**Author:** [@Robotic](https://discourse.openrobotics.org/u/Robotic)\
**Replies:** 0\
**Last updated:** [May 18, 2026, 6:10pm UTC](https://discourse.openrobotics.org/t/roboinfra-ci-cd-apis-for-urdf-validation-auto-fix-moveit-config-generation-and-isaac-sim-usd-conversion/54937 "2026-05-18T18:10:06Z")

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Hi everyone, I’ve been building RoboInfra, a developer-focused infrastructure platform for robot model workflows. The goal is simple: Stop robotics developers from wasting hours debugging URDFs manually. RoboInfra pro…

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## [Private URDF/Xacro validation (no storage, CI-ready)](https://discourse.openrobotics.org/t/private-urdf-xacro-validation-no-storage-ci-ready/54314)

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**Author:** [@Robotic](https://discourse.openrobotics.org/u/Robotic)\
**Replies:** 0\
**Last updated:** [April 26, 2026, 3:12pm UTC](https://discourse.openrobotics.org/t/private-urdf-xacro-validation-no-storage-ci-ready/54314 "2026-04-26T15:12:03Z")

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Hi, I reached out after hearing a common concern from robotics engineers: “Why would I upload my URDF/Xacro to an external service?” That hesitation makes complete sense especially with proprietary robot models. So j…

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## [URDF Validation + Kinematic Analysis API with Browser-Based Preview (Tested on Robonaut 2)](https://discourse.openrobotics.org/t/urdf-validation-kinematic-analysis-api-with-browser-based-preview-tested-on-robonaut-2/54298)

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**Author:** [@Robotic](https://discourse.openrobotics.org/u/Robotic)\
**Replies:** 0\
**Last updated:** [April 24, 2026, 6:45pm UTC](https://discourse.openrobotics.org/t/urdf-validation-kinematic-analysis-api-with-browser-based-preview-tested-on-robonaut-2/54298 "2026-04-24T18:45:53Z")

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I’ve been working on a developer-focused URDF validation and analysis API and recently added a browser-based 3D preview layer. To stress test the pipeline, I used the NASA Robonaut 2 (R2) URDF: URDF: https://github.com…

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## [How to generate a perfect URDF for a cobot (Robotic Arm) for ros2 using Solid works for gravity compensation mode with cyclic syncronous torque mode?](https://discourse.openrobotics.org/t/how-to-generate-a-perfect-urdf-for-a-cobot-robotic-arm-for-ros2-using-solid-works-for-gravity-compensation-mode-with-cyclic-syncronous-torque-mode/54202)

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**Author:** [@Zed](https://discourse.openrobotics.org/u/Zed)\
**Replies:** 1\
**Last updated:** [April 21, 2026, 5:44pm UTC](https://discourse.openrobotics.org/t/how-to-generate-a-perfect-urdf-for-a-cobot-robotic-arm-for-ros2-using-solid-works-for-gravity-compensation-mode-with-cyclic-syncronous-torque-mode/54202 "2026-04-21T17:44:44Z")

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We have a cobot. We are making URDF for ROS2 and for real hardware for gravity compensation mode and CST Cyclic Synchronous Torque Mode with EtherCAT. Links and Joints are such that if Link X has motor, motor is all insi…

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## [URDF Validator (catches real robot failures, privacy-first, with xacro support)](https://discourse.openrobotics.org/t/urdf-validator-catches-real-robot-failures-privacy-first-with-xacro-support/54157)

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**Author:** [@Robotic](https://discourse.openrobotics.org/u/Robotic)\
**Replies:** 0\
**Last updated:** [April 19, 2026, 8:30pm UTC](https://discourse.openrobotics.org/t/urdf-validator-catches-real-robot-failures-privacy-first-with-xacro-support/54157 "2026-04-19T20:30:29Z")

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Hi all, I built a URDF validator aimed at catching real-world issues in robot descriptions not just syntax errors. Why these matters Many URDF tools will accept files that still fail later in simulation, motion planni…

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## [RobotCAD 10.5.0 adapted to FreeCAD 1.1 AppImage](https://discourse.openrobotics.org/t/robotcad-10-5-0-adapted-to-freecad-1-1-appimage/53994)

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**Author:** [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Replies:** 0\
**Last updated:** [April 13, 2026, 7:40pm UTC](https://discourse.openrobotics.org/t/robotcad-10-5-0-adapted-to-freecad-1-1-appimage/53994 "2026-04-13T19:40:35Z")

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Let you introduce RobotCAD adaption to FreeCAD 1.1 AppImage. Enjoy new FreeCAD 1.1 functionality. RobotCAD is a FreeCAD workbench to generate robot description packages for ROS2 (URDF) with launchers to Gazebo and RViz…

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## [Web URDF viewer by frontend developer - seeking robotics feedback](https://discourse.openrobotics.org/t/web-urdf-viewer-by-frontend-developer-seeking-robotics-feedback/52743)

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**Author:** [@qkrdkwl9090](https://discourse.openrobotics.org/u/qkrdkwl9090)\
**Replies:** 2\
**Last updated:** [February 26, 2026, 11:43pm UTC](https://discourse.openrobotics.org/t/web-urdf-viewer-by-frontend-developer-seeking-robotics-feedback/52743 "2026-02-26T23:43:04Z")

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I’m a frontend developer who created a web-based URDF viewer: Current features: URDF/XACRO upload and 3D rendering Basic joint controls Orbit/zoom camera Questions for robotics experts: Do link frames and joint ax…

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## [Release\] LinkForge v1.2.3: 100% Type Safety, Parser Hardening & ROS-Agnostic Assets](https://discourse.openrobotics.org/t/release-linkforge-v1-2-3-100-type-safety-parser-hardening-ros-agnostic-assets/52518)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 7\
**Last updated:** [February 18, 2026, 8:29pm UTC](https://discourse.openrobotics.org/t/release-linkforge-v1-2-3-100-type-safety-parser-hardening-ros-agnostic-assets/52518 "2026-02-18T20:29:48Z")

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Hi everyone! :waving\_hand: I’m excited to announce the release of LinkForge v1.2.3 — Professional URDF & XACRO Bridge for Blender. This release marks a major stability milestone, achieving 100% static type safety acros…

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## [URDF Kitchen Beta 2 Released](https://discourse.openrobotics.org/t/urdf-kitchen-beta-2-released/52258)

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**Author:** [@Ninagawa123](https://discourse.openrobotics.org/u/Ninagawa123)\
**Replies:** 4\
**Last updated:** [February 6, 2026, 9:06am UTC](https://discourse.openrobotics.org/t/urdf-kitchen-beta-2-released/52258 "2026-02-06T09:06:10Z")

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Hello everyone, I have developed a tool to support the creation of URDF files. URDF Kitchen is a GUI-based tool that allows you to load mesh files for robot parts, mark connection points, and assemble robots by connect…

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## [🚀 Update: LinkForge v1.2.1 is now live on Blender Extensions!](https://discourse.openrobotics.org/t/update-linkforge-v1-2-1-is-now-live-on-blender-extensions/52343)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 0\
**Last updated:** [February 4, 2026, 5:34pm UTC](https://discourse.openrobotics.org/t/update-linkforge-v1-2-1-is-now-live-on-blender-extensions/52343 "2026-02-04T17:34:43Z")

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We just pushed a critical stability update for anyone importing complex robot models. What’s New in v1.2.1? :white\_check\_mark: Fixed “Floating Parts”: We resolved a transform baking issue where imported meshes would dr…

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## [Stop rewriting legacy URDFs by hand 🛑](https://discourse.openrobotics.org/t/stop-rewriting-legacy-urdfs-by-hand/52312)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 2\
**Last updated:** [February 4, 2026, 10:41am UTC](https://discourse.openrobotics.org/t/stop-rewriting-legacy-urdfs-by-hand/52312 "2026-02-04T10:41:30Z")

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Migrating robots from ROS 1 to ROS 2 is usually a headache of XML editing and syntax checking. In this video, I demonstrate how 𝐋𝐢𝐧𝐤𝐅𝐨𝐫𝐠𝐞 solves this in minute using the 𝐒𝐎-𝐀𝐑𝐌100. The Workflow: :one: Import: Load leg…

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## [LinkForge 1.2.0: Centralized ros2\_control Dashboard & Inertial Precision](https://discourse.openrobotics.org/t/linkforge-1-2-0-centralized-ros2-control-dashboard-inertial-precision/52086)

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**Author:** [@arounamounchili](https://discourse.openrobotics.org/u/arounamounchili)\
**Replies:** 0\
**Last updated:** [January 24, 2026, 10:34pm UTC](https://discourse.openrobotics.org/t/linkforge-1-2-0-centralized-ros2-control-dashboard-inertial-precision/52086 "2026-01-24T22:34:05Z")

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Hi Everyone, Following the initial announcement of LinkForge, I’m appreciative of the feedback. Today I’m releasing v1.2.0, focused on internal stability and better diagnostic visuals. Key Technical Changes: Central…

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## [Designing a mobile rover with a top-mounted manipulator without degrading 2D LiDAR-based SLAM and Nav2 performance](https://discourse.openrobotics.org/t/designing-a-mobile-rover-with-a-top-mounted-manipulator-without-degrading-2d-lidar-based-slam-and-nav2-performance/51703)

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**Author:** [@Sushant\_Niraula](https://discourse.openrobotics.org/u/Sushant_Niraula)\
**Replies:** 3\
**Last updated:** [March 20, 2026, 10:35pm UTC](https://discourse.openrobotics.org/t/designing-a-mobile-rover-with-a-top-mounted-manipulator-without-degrading-2d-lidar-based-slam-and-nav2-performance/51703 "2026-03-20T22:35:36Z")

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Best practices for integrating a robotic arm on a mobile rover using 2D LiDAR SLAM (Nav2 / ROS 2) Hello everyone, I am working on a ROS 2 (Jazzy) based autonomous agricultural rover that uses 2D LiDAR-based SLAM and Na…

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## [Artifex: AI-generated URDFs with visual error checking - seeking feedback](https://discourse.openrobotics.org/t/artifex-ai-generated-urdfs-with-visual-error-checking-seeking-feedback/51511)

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**Author:** [@CatsMeow492](https://discourse.openrobotics.org/u/CatsMeow492)\
**Replies:** 0\
**Last updated:** [December 24, 2025, 11:48pm UTC](https://discourse.openrobotics.org/t/artifex-ai-generated-urdfs-with-visual-error-checking-seeking-feedback/51511 "2025-12-24T23:48:47Z")

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I’ve been building a desktop tool for robot description generation and wanted to get feedback from people who actually work with URDFs regularly. ## What it does 1. Describe a robot in natural language 2. AI generates…

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## [UrdfArchitect: A AI-powered visual editor to build robot models without manual XML coding](https://discourse.openrobotics.org/t/urdfarchitect-a-ai-powered-visual-editor-to-build-robot-models-without-manual-xml-coding/51484)

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**Author:** [@Wangxinhui-bot](https://discourse.openrobotics.org/u/Wangxinhui-bot)\
**Replies:** 1\
**Last updated:** [December 23, 2025, 9:32am UTC](https://discourse.openrobotics.org/t/urdfarchitect-a-ai-powered-visual-editor-to-build-robot-models-without-manual-xml-coding/51484 "2025-12-23T09:32:05Z")

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Hi ROS Community, I’m excited to share a new tool I’ve been developing called UrdfArchitect. UrdfArchitect is a state-of-the-art, web-based visual environment engineered for the seamless creation, manipulation, and exp…

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## [ROS2 URDF language reference?](https://discourse.openrobotics.org/t/ros2-urdf-language-reference/50377)

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**Author:** [@xperroni](https://discourse.openrobotics.org/u/xperroni)\
**Replies:** 0\
**Last updated:** [October 2, 2025, 1:36pm UTC](https://discourse.openrobotics.org/t/ros2-urdf-language-reference/50377 "2025-10-02T13:36:41Z")

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The ROS1 wiki includes a complete reference for the URDF language. The ROS2 documentation contains a series of URDF tutorials, but as far as I can see no equivalent language reference. Is the ROS1 wiki still the authorit…

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## [SDF to URDF conversion in 2025](https://discourse.openrobotics.org/t/sdf-to-urdf-conversion-in-2025/50318)

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**Author:** [@ahb](https://discourse.openrobotics.org/u/ahb)\
**Replies:** 2\
**Last updated:** [September 30, 2025, 8:55pm UTC](https://discourse.openrobotics.org/t/sdf-to-urdf-conversion-in-2025/50318 "2025-09-30T20:55:19Z")

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Hi all, it seems URDF, SDF and the conversion between them is a topic that keeps on giving. When I weekend-project created FusionSDF last year, I didn’t expect to actually still need URDFs anymore as SDFs can now be use…

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## [Built a browser-based tool to assemble robots & export URDFs in minutes](https://discourse.openrobotics.org/t/built-a-browser-based-tool-to-assemble-robots-export-urdfs-in-minutes/50157)

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**Author:** [@Dev\_Harsh](https://discourse.openrobotics.org/u/Dev_Harsh)\
**Replies:** 1\
**Last updated:** [September 22, 2025, 2:37pm UTC](https://discourse.openrobotics.org/t/built-a-browser-based-tool-to-assemble-robots-export-urdfs-in-minutes/50157 "2025-09-22T14:37:28Z")

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I’ve been working on a project called RoboSnap, a web-based tool that makes it easier to build robots and create URDFs without spending hours in CAD software or hand-editing XML. It allows users to create prototypes of …

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## [Stemkeens Rosblockly: A Web-Based Platform for ROS 2 URDF Design and Simulation](https://discourse.openrobotics.org/t/stemkeens-rosblockly-a-web-based-platform-for-ros-2-urdf-design-and-simulation/49592)

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**Author:** [@hoonle135](https://discourse.openrobotics.org/u/hoonle135)\
**Replies:** 0\
**Last updated:** [August 15, 2025, 6:50pm UTC](https://discourse.openrobotics.org/t/stemkeens-rosblockly-a-web-based-platform-for-ros-2-urdf-design-and-simulation/49592 "2025-08-15T18:50:11Z")

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Hi everyone, I’m HOONLE, Project member of Stemkeens Rosblockly. After six months of work I’m releasing this project as open-source—feedback and contributions are very welcome! Challenge — Why did we build it? Like ma…

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## [RobotCAD 9.0.0 (Assemly WB -\> RobotCAD converter)](https://discourse.openrobotics.org/t/robotcad-9-0-0-assemly-wb-robotcad-converter/49289)

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**Author:** [@fenixionsoul](https://discourse.openrobotics.org/u/fenixionsoul)\
**Replies:** 0\
**Last updated:** [July 27, 2025, 6:47am UTC](https://discourse.openrobotics.org/t/robotcad-9-0-0-assemly-wb-robotcad-converter/49289 "2025-07-27T06:47:25Z")

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Improvements: Add converter FreeCAD Assembly WB (default) to RobotCAD structure. Add tool for changing Joint Origin without touching downstream kinematic chain (move only target Joint Origin) Optimization of Set placem…

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## [Issues After Migrating to ROS 2 Jazzy: RViz Icons and Mesh Loading](https://discourse.openrobotics.org/t/issues-after-migrating-to-ros-2-jazzy-rviz-icons-and-mesh-loading/43935)

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**Author:** [@jarain78](https://discourse.openrobotics.org/u/jarain78)\
**Replies:** 7\
**Last updated:** [May 27, 2025, 10:42pm UTC](https://discourse.openrobotics.org/t/issues-after-migrating-to-ros-2-jazzy-rviz-icons-and-mesh-loading/43935 "2025-05-27T22:42:24Z")

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Hi everyone, I recently migrated to ROS 2 Jazzy and I’m encountering two issues that I haven’t been able to resolve: 1. RViz2 Icon Loading Errors When I launch RViz2, I get several errors related to loading icons. The …

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## [Dynamic URDF files/robot descriptions](https://discourse.openrobotics.org/t/dynamic-urdf-files-robot-descriptions/42646)

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**Author:** [@julianmueller](https://discourse.openrobotics.org/u/julianmueller)\
**Replies:** 7\
**Last updated:** [May 21, 2025, 8:58am UTC](https://discourse.openrobotics.org/t/dynamic-urdf-files-robot-descriptions/42646 "2025-05-21T08:58:32Z")

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Hi, I have multiple industrial robot which I control via ROS2 jazzy and moveit2, and a tool change system (FWR63 by Zimmer) that allows to change different endeffectors (grippers etc) between all these robots. The tools…

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