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https://github.com/clemense/yourdfpy
Python parser for URDFs
https://github.com/clemense/yourdfpy
kinematics robotics ros urdf urdf-descriptions urdf-models urdf-parser urdf-visualizer
Last synced: 3 months ago
JSON representation
Python parser for URDFs
- Host: GitHub
- URL: https://github.com/clemense/yourdfpy
- Owner: clemense
- License: mit
- Created: 2021-10-16T04:28:56.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2024-01-20T22:56:12.000Z (5 months ago)
- Last Synced: 2024-02-22T02:22:59.952Z (4 months ago)
- Topics: kinematics, robotics, ros, urdf, urdf-descriptions, urdf-models, urdf-parser, urdf-visualizer
- Language: Python
- Homepage:
- Size: 615 KB
- Stars: 87
- Watchers: 4
- Forks: 12
- Open Issues: 12
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.rst
- License: LICENSE.txt
- Authors: AUTHORS.md
Lists
- awesome-urdf - yourdfpy - Library and command-line tool to load, visualize, manipulate, validate and save URDF files. (URDF / Tools)
README
[](https://app.travis-ci.com/clemense/yourdfpy)
[](https://yourdfpy.readthedocs.io/en/latest/?badge=latest)
[](https://coveralls.io/github/clemense/yourdfpy?branch=main)
[](https://badge.fury.io/py/yourdfpy)
# yourdfpy
Yet anOther URDF parser for Python. Yup, it's another one. Deal with it.
Yourdfpy is a simpler and easier-to-use library for loading, manipulating, validating, saving, and visualizing URDF files.
## Installation
You can install yourdfpy directly from pip:
```
pip install yourdfpy
```
## Visualization
Once installed, you can visualize a URDF model from the command line:
```
yourdfpy ./my_description/urdf/robot.urdf
```
You can use the following keyboard shortcuts to inspect your model:
- ``a``: Toggle rendered XYZ/RGB axis markers (off, world frame, every frame)
- ``w``: Toggle wireframe mode (good for looking inside meshes, off by default)
- ``c``: Toggle back face culling (on by default but in wireframe mode it is sometimes useful to see the back sides)
## But why another one?!?
`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 Dealing with filenames, outdated dependencies, open bug reports, and limited flexibility when it comes to serialization are other disadvantages.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.
| | [urdfpy](https://github.com/mmatl/urdfpy) | [urdf_parser_py](https://github.com/ros/urdf_parser_py) | **yourdfpy** |
| ---------------------------------------------------------------------------------------------: | :---------------------------------------: | :-----------------------------------------------------: | :----------------: |
| Decouple parsing from validation | | | :heavy_check_mark: |
| Decouple parsing from loading meshes | | :heavy_check_mark: | :heavy_check_mark: |
| Visualize URDF | :heavy_check_mark: | | :heavy_check_mark: |
| Forward Kinematics | :heavy_check_mark: | | :heavy_check_mark: |
| Robustness test: loading 12 URDF files from [here](https://github.com/ankurhanda/robot-assets) | 4/12 | 6/12 | 12/12 |
| Avg. loading time per file (w/ mesh loading) | 480 ms | | 370 ms |
| (w/o mesh loading) | | 3.2 ms | 6.2 ms |
| Test on 4 URDF files on which `urdfpy` succeeds | 347.5 ms | | 203 ms |
| Test on 6 URDF files on which `urdf_parser_py` succeeds | | 2.6 ms | 3.8 ms |
Click to expand code listing that produces the above table entries.
```python
robot_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']
import urdfpy
import urdf_parser_py
import yourdfpy
from functools import partial
def load_urdfs(fnames, load_fn):
results = {fname: None for fname in fnames}
for fname in fnames:
try:
x = load_fn(fname)
results[fname] = x
except:
print("Problems loading: ", fname)
pass
print(sum([1 for x, y in results.items() if y is not None]), "/", len(fnames))
return results
# parsing success rate
load_urdfs(robot_assets, urdfpy.URDF.load)
load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
load_urdfs(robot_assets, yourdfpy.URDF.load)
# parsing times
%timeit load_urdfs(robot_assets, urdfpy.URDF.load)
%timeit load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
%timeit load_urdfs(robot_assets, yourdfpy.URDF.load)
%timeit load_urdfs(robot_assets, partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))
# fairer comparison with yourdfpy
urdfpy_fnames = [x for x, y in load_urdfs(robot_assets, urdfpy.URDF.load).items() if y is not None]
%timeit load_urdfs(urdfpy_fnames, yourdfpy.URDF.load)
# fairer comparison with urdf_parser_py
urdfparser_fnames = [x for x, y in load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.from_xml_file).items() if y is not None]
%timeit load_urdfs(urdfparser_fnames, functools.partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))
```