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Status](https://readthedocs.org/projects/yourdfpy/badge/?version=latest)](https://yourdfpy.readthedocs.io/en/latest/?badge=latest)\n[![Coverage Status](https://coveralls.io/repos/github/clemense/yourdfpy/badge.svg?branch=main)](https://coveralls.io/github/clemense/yourdfpy?branch=main)\n[![PyPI version](https://badge.fury.io/py/yourdfpy.svg)](https://badge.fury.io/py/yourdfpy)\n\n# yourdfpy\n\nYet anOther URDF parser for Python. Yup, it's another one. Deal with it.\n\nYourdfpy is a simpler and easier-to-use library for loading, manipulating, validating, saving, and visualizing URDF files.\n\n## Installation\n\nYou can install yourdfpy directly from pip:\n```\npip install yourdfpy\n```\n\n## Visualization\n\nOnce installed, you can visualize a URDF model from the command line:\n```\nyourdfpy ./my_description/urdf/robot.urdf\n```\n\nYou can use the following keyboard shortcuts to inspect your model:\n\n- ``a``: Toggle rendered XYZ/RGB axis markers (off, world frame, every frame)\n- ``w``: Toggle wireframe mode (good for looking inside meshes, off by default)\n- ``c``: Toggle back face culling (on by default but in wireframe mode it is sometimes useful to see the back sides)\n\n## But why another one?!?\n`Why are you wasting not only your but also our time?` you might ask. Fair point. There are already [urdfpy](https://github.com/mmatl/urdfpy) and [urdf_parser_py](https://github.com/ros/urdf_parser_py) that deal with URDFs. Unfortunately, none of these solutions allow customizable URDF parsing that is fully independent of validation and mesh loading. Dealing with filenames, outdated dependencies, open bug reports, and limited flexibility when it comes to serialization are other disadvantages. As shown in the table below, **yourdfpy** is the most robust one when it comes to loading URDFs in the wild.\n\n![Example URDFs](https://github.com/clemense/yourdfpy/blob/main/docs/_static/urdf_examples.jpg?raw=true)\n\n|                                                                                                | [urdfpy](https://github.com/mmatl/urdfpy) | [urdf_parser_py](https://github.com/ros/urdf_parser_py) |    **yourdfpy**    |\n| ---------------------------------------------------------------------------------------------: | :---------------------------------------: | :-----------------------------------------------------: | :----------------: |\n|                                                               Decouple parsing from validation |                                           |                                                         | :heavy_check_mark: |\n|                                                           Decouple parsing from loading meshes |                                           |                   :heavy_check_mark:                    | :heavy_check_mark: |\n|                                                                                 Visualize URDF |            :heavy_check_mark:             |                                                         | :heavy_check_mark: |\n|                                                                             Forward Kinematics |            :heavy_check_mark:             |                                                         | :heavy_check_mark: |\n| Robustness test: loading 12 URDF files from [here](https://github.com/ankurhanda/robot-assets) |                   4/12                    |                          6/12                           |       12/12        |\n|                                                   Avg. loading time per file (w/ mesh loading) |                  480 ms                   |                                                         |       370 ms       |\n|                                                                             (w/o mesh loading) |                                           |                         3.2 ms                          |       6.2 ms       |\n|                                                Test on 4 URDF files on which `urdfpy` succeeds |                 347.5 ms                  |                                                         |       203 ms       |\n|                                        Test on 6 URDF files on which `urdf_parser_py` succeeds |                                           |                         2.6 ms                          |       3.8 ms       |\n\n\u003cdetails\u003e\n\u003csummary\u003eClick to expand code listing that produces the above table entries.\u003c/summary\u003e\n\n```python\nrobot_assets = ['robot-assets/urdfs/robots/barret_hand/bhand_model.URDF', 'robot-assets/urdfs/robots/robotiq_gripper/robotiq_arg85_description.URDF', 'robot-assets/urdfs/robots/anymal/anymal.urdf', 'robot-assets/urdfs/robots/franka_panda/panda.urdf', 'robot-assets/urdfs/robots/ginger_robot/gingerurdf.urdf', 'robot-assets/urdfs/robots/halodi/eve_r3.urdf', 'robot-assets/urdfs/robots/kinova/kinova.urdf', 'robot-assets/urdfs/robots/kuka_iiwa/model.urdf', 'robot-assets/urdfs/robots/pr2/pr2.urdf', 'robot-assets/urdfs/robots/ur10/ur10_robot.urdf', 'robot-assets/urdfs/robots/ur5/ur5_gripper.urdf', 'robot-assets/urdfs/robots/yumi/yumi.urdf']\n\nimport urdfpy\nimport urdf_parser_py\nimport yourdfpy\n\nfrom functools import partial\n\ndef load_urdfs(fnames, load_fn):\n    results = {fname: None for fname in fnames}\n    for fname in fnames:\n        try:\n            x = load_fn(fname)\n            results[fname] = x\n        except:\n            print(\"Problems loading: \", fname)\n            pass\n    print(sum([1 for x, y in results.items() if y is not None]), \"/\", len(fnames))\n    return results\n\n# parsing success rate\nload_urdfs(robot_assets, urdfpy.URDF.load)\nload_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)\nload_urdfs(robot_assets, yourdfpy.URDF.load)\n\n# parsing times\n%timeit load_urdfs(robot_assets, urdfpy.URDF.load)\n%timeit load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)\n%timeit load_urdfs(robot_assets, yourdfpy.URDF.load)\n%timeit load_urdfs(robot_assets, partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))\n\n# fairer comparison with yourdfpy\nurdfpy_fnames = [x for x, y in load_urdfs(robot_assets, urdfpy.URDF.load).items() if y is not None]\n%timeit load_urdfs(urdfpy_fnames, yourdfpy.URDF.load)\n\n# fairer comparison with urdf_parser_py\nurdfparser_fnames = [x for x, y in load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.from_xml_file).items() if y is not None]\n%timeit load_urdfs(urdfparser_fnames, functools.partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))\n```\n\n\u003c/details\u003e\n\n\u003c!--\n# Visualization\n\n\ncam_rot = s.camera_transform\nrobot_assets = glob.glob('/data/robot-assets/urdfs/robots/**/*.urdf')\nfor i, fname in enumerate(robot_assets):\n  try:\n    s = yourdfpy.URDF.load(fname).scene\n    cam_T = s.camera.look_at(points=s.convex_hull.vertices, rotation=cam_rot) # distance=2.6\n    s.camera_transform = cam_T\n    png = s.save_image()\n    with open(f\"/tmp/test{i:02}.png\", 'wb') as f:\n        f.write(png)\n  except Exception as e:\n        print(e)\n\n~/crop_image_horizontal.sh /tmp/test*png\nmontage /tmp/test*png -geometry +50+0 -tile x1 /tmp/montage_geom.jpg\n--\u003e\n\n\u003c!--\nHow to deploy\n\ngit tag -l\nrm dist/*\nrm -rf build/\n\n# https://pyscaffold.org/en/latest/faq.html#version-faq\ngit gui # commit something?\ngit tag v\u003csemver\u003e\ngit push origin main\ngit push origin \u003ctag_name\u003e\n\n# This should not be needed, since travis-ci does the pypi deployment\npython setup.py bdist_wheel\ntwine upload -r testpypi dist/*\n\npython -m pip install --index-url https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple yourdfpy==v\u003csemver\u003e\n\ntwine upload dist/*\n--\u003e\n","funding_links":[],"categories":["URDF"],"sub_categories":["Tools"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fclemense%2Fyourdfpy","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fclemense%2Fyourdfpy","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fclemense%2Fyourdfpy/lists"}