https://github.com/ryanrudes/urdf
Typed robot definitions in Python
https://github.com/ryanrudes/urdf
definition mjcf robot urdf
Last synced: 9 days ago
JSON representation
Typed robot definitions in Python
- Host: GitHub
- URL: https://github.com/ryanrudes/urdf
- Owner: ryanrudes
- License: mit
- Created: 2026-06-07T05:34:50.000Z (14 days ago)
- Default Branch: master
- Last Pushed: 2026-06-07T06:17:55.000Z (14 days ago)
- Last Synced: 2026-06-07T07:18:58.218Z (14 days ago)
- Topics: definition, mjcf, robot, urdf
- Language: Python
- Homepage: https://ryanrudes.github.io/urdf
- Size: 268 KB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# urdf
`urdf` parses URDF files and turns them into typed Python robot definitions.
The project is split into a small parser, reusable robot construction utilities, and generated robot packages under `src/urdf/robots/`.
## What it provides
- Parse URDF files into a structured in-memory model.
- Generate typed link, joint, linkage, articulation, and skeleton definitions.
- Register built-in and user-defined robots at runtime.
- Keep robot-specific definitions in their own packages under `urdf.robots`.
## Usage
Generate a robot package from a URDF file:
```bash
hatch run dev:generate-robot assets/g1_23dof.urdf src/urdf/robots/models/g1_23dof.py
```
Run the test suite:
```bash
hatch run dev:test
```
Build the documentation:
```bash
hatch run dev:docs-build
```
## Repository layout
- `src/urdf/parser/`: URDF parsing and code generation.
- `src/urdf/robots/`: built-in robot packages, runtime registry, and shared helpers.
- `tests/`: regression coverage for generation and registration behavior.
- `docs/`: MkDocs source files.