Denavit Hartenberg to URDF converter

You can use MyModelRobot to view your URDF files online

Insert your DH-table here :

Some important info: Use radians when defining angle values. Program does some basic calculations, such as pi/2 becomes 1.571.
You can have additional offsets in rotational or prismatic joints by having theta or d values. If there are no offsets, the column with variable (i.e. theta or d) should be 0.

Last column should be set true if the joint is rotational and false if it is prismatic

Code availible at: