DH2URDF

Denavit Hartenberg table to Unified Robot Description Format

Demo website is availible at https://adohaha.github.io/DH2URDF/

The converted code gives axes (as URDF cylinders) placed at the Denavit-Hartenber frames of reference. This elements can be then used to create a full-blown URDF.

At companion website https://mymodelrobot.appspot.com, you can view the URDF's and play with the joint values.