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Utility to convert URDF files to Webots PROTO nodes
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.github Add Founding Nov 5, 2019
tests Simplified tests Feb 4, 2020
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.gitignore Update gitignore Sep 25, 2019
.gitmodules Add motoman submodule. Mar 13, 2019
.travis.yml Add Python 3.8 test Jan 31, 2020 Update Oct 25, 2018
LICENSE Create LICENSE Oct 24, 2018 Move Badges Feb 18, 2020 Fixed PEP8 line lengths Jan 31, 2020
requirements.txt final version Jan 31, 2020 Update version number Feb 3, 2020


Build Status

This tool converts URDF files into Webots PROTO files.


From pip

pip install urdf2webots

On macOS, export the pip binary path to the PATH: export PATH="/Users/$USER/Library/Python/3.7/bin:$PATH"

From Sources

git clone
cd urdf2webots
pip install -r requirements.txt


From pip

python -m urdf2webots.importer --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--disable-mesh-optimization]

From Sources

python --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--disable-mesh-optimization]

In your Python Code

from urdf2webots.importer import convert2urdf


Outputs: someRobot_textures (folder), someRobot.proto.
Use in Webots: put the outputs in the protos folder of your Webots project.


This tool have been tested using Webots R2020a on Ubuntu16.04 and Windows.
You can find the sources of these URDF files here:



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information:


This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

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