yourdfpy 0.0.23

A simpler and easier-to-use library for loading, manipulating, saving, and visualizing URDF files.

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

But why another one?!?

	urdfpy	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 on 12 URDF files from here	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

Entries for the above table were produced with:

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:
            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, generate_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, generate_scene_graph=False))