Urchin

Urchin is a fork of the no-longer-updated urdfpy. The API is still mostly the same. The main difference currently is that you can load urdfs without the meshes (which is ~100x faster) by passing the flag lazy_load=True to the URDF.load function.

Installation

You can install urchin directly from pip.

pip install urchin

Documentation

See the urdfpy documentation for the current docs. urchin will have its own docs when it diverges enough to deserve it.

The urdfpy docs can be found here for more information.