Science Score: 26.0%
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○Scientific vocabulary similarity
Low similarity (10.3%) to scientific vocabulary
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Repository
Python parser for URDFs
Basic Info
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- Stars: 210
- Watchers: 4
- Forks: 18
- Open Issues: 16
- Releases: 12
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README.md
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 and urdfparserpy 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 Dealing with filenames, outdated dependencies, open bug reports, and limited flexibility when it comes to serialization are other disadvantages.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 | urdfparserpy | yourdfpy |
| ---------------------------------------------------------------------------------------------: | :---------------------------------------: | :-----------------------------------------------------: | :----------------: |
| Decouple parsing from validation | | | :heavycheckmark: |
| Decouple parsing from loading meshes | | :heavycheckmark: | :heavycheckmark: |
| Visualize URDF | :heavycheckmark: | | :heavycheckmark: |
| Forward Kinematics | :heavycheckmark: | | :heavycheckmark: |
| Robustness test: loading 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 |
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)) ```Owner
- Name: Clemens Eppner
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- Company: NVIDIA
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Last synced: 9 months ago
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| Name | Commits | |
|---|---|---|
| Clemens Eppner | c****r@n****m | 168 |
| Stéphane Caron | s****n@n****g | 22 |
| Caelan Garrett | c****t@n****m | 2 |
| Aaron Gokaslan | a****n@g****m | 1 |
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Last synced: 6 months ago
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Dependencies
- lxml *
- numpy *
- recommonmark *
- sphinx >=3.2.1
- sphinx-automodapi *
- sphinx_rtd_theme *
- trimesh >=3.11.2
- actions/checkout v3 composite
- actions/setup-python v3 composite
- pypa/gh-action-pypi-publish 27b31702a0e7fc50959f5ad993c78deac1bdfc29 composite