Urdfpy is a simple and easy-to-use library for loading, manipulating, saving, and visualizing URDF files.
Extensive API documentation is provided here.
The original repository can be installed with
pip install urdfpyHowever, this fork contains some fixes which are yet to be merged into the original repository (this and this. Therefore you can instead install this fork using:
pip install git+https://github.com/sthoduka/urdfpy.gitPlease see the user guide here for more information.