Intermediate ROS2: Simplify URDF with Xacro
Objective: Learn techniques for reducing URDF file code using Xacro
Tutorial level: Intermediate
Time: 20 minutes
Table of Contents
Using Xacro
Constants
Mathematics
Macros
Simple Macros
Parameterized Macros
Practical Usage
Leg Macro
So far, if you've been designing your own robot at home folowing these steps, you might have gro ...
Posted on Sat, 15 Aug 2026 16:48:09 +0000 by bothwell
3D Simulation Asset Formats and Data Processing
Simulation Environments
Sapien
Sapien simulation platform and its official tutorials.
Isaac Sim
Isaac Sim Documentation version 5.1.
Simulation Asset Formats
URDF Files
Articulated Robotics blog URDF section and ROS wiki resources, including ROS 2 tutorials.
Architecture Overview
URDF employs a tree structure using links (components) and joints ...
Posted on Sun, 14 Jun 2026 16:22:30 +0000 by systemick