Urdfpy is a simple and easy-to-use library for loading, manipulating, saving, and visualizing URDF files.
Extensive API documentation is provided here.
You can install urdfpy directly from pip.
git clone https://github.com/Piflyer/urdfpy-sim2real.git
cd urdfpy-sim2real && cd urdfpy
pip install -e .Please see the user guide here for more information.