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PyPI · #4753 most downloaded on PyPI
A simpler and easier-to-use library for loading, manipulating, saving, and visualizing URDF files.
Last release 8 months ago
23 Jan 2026
Release timing varies
gaps range from 1 weeks to 13 months
Nearly every release is documented
notes for 33 of 35 stable releases
Nothing withdrawn
no release was ever pulled
5 years old
35 releases · first in 2021
One column per quarter.
fix _forward_kinematics_joint() when configuration passed to update_cfg() is just a dictionary of str-float pairs by @kwang-12 in https://github.com/c
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.59...v0.0.60
Resolve Numpy warning from scalar conversion in matrix calculation. by @david-dorf in https://github.com/clemense/yourdfpy/pull/62
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.58...v0.0.59
Fix small typos in urdf.py by @sea-bass in https://github.com/clemense/yourdfpy/pull/60
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.57...v0.0.58
Add parameter EQUALITY_TOLERANCE for comparing different URDFs by @clemense in https://github.com/clemense/yourdfpy/pull/56
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.56...v0.0.57
Replace travis CI by Github Actions
Replace travis CI by Github Actions
Fix NumPy float issue by @stephane-caron in https://github.com/clemense/yourdfpy/pull/46
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.52...v0.0.53
Mass parsing fix by @clemense in https://github.com/clemense/yourdfpy/pull/32
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.51...v0.0.52
parse_mass() returns float instead of strtrimesh dependency to trimesh[easy] (to support loading Collada meshes)Add fix and test for filename handlers by @clemense in https://github.com/clemense/yourdfpy/pull/28
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.49...v0.0.51
- A nothingburger
Add bug fix and test for single link URDF by @clemense in https://github.com/clemense/yourdfpy/pull/26
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.48...v0.0.49
Add configuration and animation to viz by @clemense in https://github.com/clemense/yourdfpy/pull/24
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.47...v0.0.48
-c/--configuration argument for yourdfpy--animate flag to yourdfpyChange to trimesh primitives by @clemense in https://github.com/clemense/yourdfpy/pull/22
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.46...v0.0.47
trimesh.primitives.* for geometric primitives (instead of trimesh.creation.*)Bugfix: Material Tag by @clemense in https://github.com/clemense/yourdfpy/pull/21
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.45...v0.0.46
Mention useful keyboard shortcuts in the README by @stephane-caron in https://github.com/clemense/yourdfpy/pull/17
Full Changelog: https://github.com/clemense/yourdfpy/compare/v0.0.44...v0.0.45
Parse and write name attribute of material element
name attribute of material elementSkip material loading for collision geometries
Fix bug when updating robots with mimic joints
- yourdfpy.Sphere visible
Add 'file_path', 'file_name', and 'file_element' to trimesh geometry's metadata in case loaded OBJ file contains multiple parts
- Fix mimic joint issue
Change namespace of filename handlers
Use visual/collision name property as geometry name for scene graph
- Fix validation of JointLimit - Add Dynamics to __init__.py
Add force_single_geometry_per_link feature: similar to collision_mesh in urdfpy; will concatenate all meshes in a single link and only create one node
force_single_geometry_per_link feature: similar to collision_mesh in urdfpy; will concatenate all meshes in a single link and only create one node in the scene graph. This is the new default for loading the collision scene.Fix missing Collision exposure in init.py
Collision exposure in init.pyforce_collision_meshAdd force_mesh to constructor; allows loading mesh files as single meshes instead of turning them into graphs (since trimesh can't deal with meshes wi
force_mesh to constructor; allows loading mesh files as single meshes instead of turning them into graphs (since trimesh can't deal with meshes with multiple textures)Fix continuous joint during forward kinematics
continuous joint during forward kinematicsChange function get_default_cfg to property center_cfg
num_dofszero_cfg propertyget_default_cfg to property center_cfgNothing published for this version
Separate visual and collision scene
create_scene_graph to build_scene_graphupdate_trimesh_scene to update_cfg, change argumentsget_transform functionget_default_configuration to get_default_cfgmimic jointsactuated_jointsbase_link propertyThe Great YOURDFPY Steering Committee (G.Y.S.C.) decides to jump as many version numbers ahead as needed to pass urdfpy
The Great YOURDFPY Steering Committee (G.Y.S.C.) gives up on using only version numbers that are prime
The Great YOURDFPY Steering Committee (G.Y.S.C.) decides to only use version numbers that are prime
A version few remember and many ignored
Nothing published for this version
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