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Hi @billb,

It was a tool I wrote to convert BDI cfg files to URDF; at the time not expecting anyone else to try and use it :)

Here's the source code:

https://bitbucket.org/osrf/drcsim/src/default/drcsim_gazebo/src/bdi_parser.cpp

Given I interpreted the BDI cfg-format from data files, the parsing process is very brittle as you can probably infer from code.

Here's some notes I had for myself, but I am pretty sure it's out of date.

-John