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Python parser for URDFs
| Date | Stars |
|---|---|
| 2026-07-24 | 292 |
| 2026-07-25 | 292 |
| 2026-07-28 | 292 |
| 2026-07-30 | 292 |
| 2026-08-06 | 292 |
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[](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 Dealing with filenames, outdated dependencies, open bug reports, and limited flexibility when it comes to serialization are other disadvantages.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 `u
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Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:ae4a56be83171d4d, topic:robotics, topic:ros