Parse URDF and Xacro.

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

pip install xurdfpy

Rust example is here.

You can also use python binding.

import xurdfpy

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

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