urdf

urdf parses URDF files and generates typed Python robot definitions.

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URDF parsing → Strongly-typed Python model code

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Why use urdf?

• 🛡️ Compile-time Safety: Shift coordinate name lookups and joint traversals from runtime string dictionary lookups to static StrEnum subclass checks.
• ⚡ Zero-Overhead Specs: Keep layout models extremely lightweight in memory using static tuple specifications (LinkSpec, JointSpec).
• 🧩 Runtime Registry: Register, query, and modify user-defined and built-in robot skeletons at runtime.
• 🤖 Humanoid-Ready: Comes with built-in configurations for Unitree G1, H1, AgiBot X1, and Booster T1 models.

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Documentation Structure

Our documentation is organized into three main sections:

🏁 Tutorials

Step-by-step guides to get you up and running:

• Getting Started: Install the library and run URDF code generation.
• Working with Skeletons: Traverse links/joints and query inertial properties.
• Custom Robots: Manage custom robots at runtime using the registry.

💡 Explanations

Deeper mathematical and architectural design details:

• Architecture & Design: Understand the AST compiler pipeline and runtime model layouts.
• Kinematics & Dynamics: Review physical coordinate frames, SI units, and inertia tensor representations.

📚 API Reference

Complete index of the code symbols:

• Full Reference: Detailed signatures and docstrings of all package modules.

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Quick Command Reference

Here are the common commands to run development environments using Hatch:

# Generate a Python robot definition from a URDF file
hatch run dev:generate-robot assets/g1_23dof.urdf src/urdf/robots/models/g1_23dof.py

# Synchronize all workspace models in assets/ with the generator
hatch run dev:sync-robots

# Run formatting, checks, and unit tests
hatch run dev:format
hatch run dev:lint
hatch run dev:test