diff --git a/pkgs/by-name/xa/xacro/package.nix b/pkgs/by-name/xa/xacro/package.nix
new file mode 100644
index 000000000000..e29be57edbc5
--- /dev/null
+++ b/pkgs/by-name/xa/xacro/package.nix
@@ -0,0 +1,42 @@
+{
+  lib,
+  fetchFromGitHub,
+
+  python3Packages,
+}:
+
+python3Packages.buildPythonApplication (finalAttrs: {
+  pname = "xacro";
+  version = "2.1.1";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "ros";
+    repo = "xacro";
+    tag = finalAttrs.version;
+    hash = "sha256-xYFwVM5qpy2/cYKtcf/v5sSlL2e/taIC4IQ48ZiRxiw=";
+  };
+
+  build-system = [
+    python3Packages.setuptools
+    python3Packages.setuptools-scm
+  ];
+
+  dependencies = [
+    python3Packages.pyyaml
+  ];
+
+  pythonImportsCheck = [ "xacro" ];
+
+  strictDeps = true;
+  __structuredAttrs = true;
+
+  meta = {
+    description = "Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions";
+    homepage = "https://github.com/ros/xacro";
+    changelog = "https://github.com/ros/xacro/blob/${finalAttrs.src.rev}/CHANGELOG.rst";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ nim65s ];
+    mainProgram = "xacro";
+  };
+})
diff --git a/pkgs/by-name/xa/xacrodoc/package.nix b/pkgs/by-name/xa/xacrodoc/package.nix
new file mode 100644
index 000000000000..c4b8491e599e
--- /dev/null
+++ b/pkgs/by-name/xa/xacrodoc/package.nix
@@ -0,0 +1,54 @@
+{
+  lib,
+  fetchFromGitHub,
+
+  python3Packages,
+  xacro,
+}:
+
+python3Packages.buildPythonApplication (finalAttrs: {
+  pname = "xacrodoc";
+  version = "2.0.1";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "adamheins";
+    repo = "xacrodoc";
+    tag = "v${finalAttrs.version}";
+    hash = "sha256-zuyd+lVcrz06yEgapoTjOZP+mxfOsk52rQE33aKV0qI=";
+  };
+
+  build-system = [
+    python3Packages.hatchling
+  ];
+
+  dependencies = [
+    python3Packages.rospkg
+    xacro
+  ];
+
+  optional-dependencies = {
+    mujoco = [
+      python3Packages.mujoco
+    ];
+  };
+
+  nativeCheckInputs = [
+    python3Packages.pytestCheckHook
+  ];
+
+  pythonImportsCheck = [
+    "xacrodoc"
+  ];
+
+  strictDeps = true;
+  __structuredAttrs = true;
+
+  meta = {
+    description = "Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required)";
+    homepage = "https://github.com/adamheins/xacrodoc";
+    license = lib.licenses.mit;
+    maintainers = with lib.maintainers; [ nim65s ];
+    mainProgram = "xacrodoc";
+  };
+})