SDF 2 URDF

Python program and Vim plugin to convert SDF elements to URDF format. SDF and URDF are XML file formats used in robot description.

Usage

Navigate to the project folder in a terminal tool. Run the program with Python 3:

python3 sdf2urdf.py

It will ask for the xml element to convert. Enter the element and end the input with an 'e' line.

It will print the corresponding URDF element.

The program doesn't fully convert a file at this stage. You should use it element by element. It may need some manual fixes for a few element types, e.g. joints.

Vim Plug-in

You can use the same function in vim as a plugin.

Installing

You can obtain it with a package manager like Vundle:

• Add the line Plugin 'gokhansolak/sdf2urdf' between

call vundle#begin()
...

call vundle#end()

• Run :PluginInstall in Vim.

Also, if you have Pathogen installed, you can clone this repo under ~/.vim/bundle:

• git clone git@github.com:gokhansolak/sdf2urdf.git ~/.vim/bundle/sdf2urdf

Usage

• Select the SDF element to convert in visual mode v.
• Call the conversion command :S2u
• Selected element will be replaced with its URDF counterpart.