Python library to parse SDF and represent it as class hierarchy. Also supports conversion into URDF.
sdf2urdf.py [-p plotfile.png] model.sdf model.urdf uses the pysdf library to convert a SDF model to a URDF model (and optionally plot the SDF model). Hierarchical SDF models (<include>) are supported. URDF can only express a subset of SDF models, therefore the conversion will only result in a valid URDF (use check_urdf), if the SDF is within this subset - i.e. there is a unique root link.