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:

hatch run dev:generate-robot assets/g1_23dof.urdf src/urdf/robots/models/g1_23dof.py

Run the test suite:

hatch run dev:test

Build the documentation:

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.