### Clone and Install Repository

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Clone the forked repository and install the project in editable mode with development dependencies.

```bash
git clone git@github.com:YourLogin/yourdfpy.git
cd yourdfpy
```

```bash
pip install -U pip setuptools -e .
```

--------------------------------

### Install from TestPyPI

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Installs a package from TestPyPI, with fallback to the main PyPI. Useful for testing releases before they go live.

```bash
python -m pip install --index-url https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple yourdfpy==v<semver>
```

--------------------------------

### Install Pre-commit Hooks

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Install pre-commit to automatically check code style and quality before committing.

```bash
pip install pre-commit
pre-commit install
```

--------------------------------

### Install yourdfpy with pip

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Install the library using pip. This is the standard method for adding Python packages to your environment.

```bash
pip install yourdfpy
```

--------------------------------

### Run Tox in a Dedicated Virtual Environment

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Create a dedicated virtual environment, install Tox, and run all Tox environments.

```bash
virtualenv .venv
source .venv/bin/activate
.venv/bin/pip install tox
.venv/bin/tox -e all
```

--------------------------------

### Check Tox Version and Path

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Verify the installed Tox version and its location in your system's PATH.

```bash
tox --version
# OR
which tox
```

--------------------------------

### yourdfpy.urdf.URDF.cfg

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Gets or sets the current configuration of the URDF model.

```APIDOC
## property cfg

### Description
Current configuration.

### Returns
* **np.ndarray** - The current configuration of the URDF model.
```

--------------------------------

### yourdfpy.viz.setup_logging

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Sets up basic logging with a specified minimum log level.

```APIDOC
## yourdfpy.viz.setup_logging(loglevel)

### Description
Setup basic logging.

### Parameters
#### Path Parameters
* **loglevel** (int) - Required - minimum loglevel for emitting messages
```

--------------------------------

### Compile and Preview Documentation with Tox

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Use tox to compile documentation and Python's http.server to preview it locally. Ensure the docs directory is correctly specified.

```bash
tox -e docs
```

```bash
python3 -m http.server --directory 'docs/_build/html'
```

--------------------------------

### Set up Virtual Environment

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Use virtualenv or Miniconda to create an isolated Python environment for development.

```bash
virtualenv <PATH TO VENV>
source <PATH TO VENV>/bin/activate
```

```bash
conda create -n pyscaffold python=3 six virtualenv pytest pytest-cov
conda activate pyscaffold
```

--------------------------------

### Preview Documentation Locally

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Serve the compiled documentation using Python's built-in HTTP server for local preview. Access it at http://localhost:8000.

```bash
python3 -m http.server --directory 'docs/_build/html'
```

--------------------------------

### Build Release Artifacts with tox

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Run this command to build the distribution files for a new release. Verify that the files in the 'dist' folder have the correct version number and are not excessively large.

```bash
tox -e build
```

--------------------------------

### Run Unit Tests with Tox

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Execute all pre-configured tasks and tests using Tox. Ensure your changes do not break existing tests.

```bash
tox
```

--------------------------------

### Compile Documentation with Tox

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Use tox to compile the project documentation. This command ensures that the documentation is built correctly according to the project's standards.

```bash
tox -e docs
```

--------------------------------

### Create Virtual Environment with virtualenv

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Set up an isolated Python virtual environment using virtualenv. Activate the environment to manage project dependencies separately.

```bash
virtualenv <PATH TO VENV>
source <PATH TO VENV>/bin/activate
```

--------------------------------

### yourdfpy.viz.run

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Calls the main function with CLI arguments extracted from sys.argv. This can serve as an entry point for console scripts.

```APIDOC
## yourdfpy.viz.run()

### Description
Calls [`main()`](#yourdfpy.viz.main) passing the CLI arguments extracted from `sys.argv`.

This function can be used as entry point to create console scripts with setuptools.
```

--------------------------------

### Publish Release to PyPI with tox

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Execute this command to upload the built distribution files to PyPI. Ensure that the upload is successful and all artifacts are correctly published.

```bash
tox -e publish -- --repository pypi
```

--------------------------------

### Create Pull Request

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Navigate to your fork's web page and initiate a pull request to submit your changes for review.

```bash
Uncomment the following paragraph if using GitHub:
# Find more detailed information `creating a PR`_. You might also want to open
# the PR as a draft first and mark it as ready for review after the feedbacks
# from the continuous integration (CI) system or any required fixes.
```

--------------------------------

### yourdfpy.viz.main

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A wrapper function that allows string arguments to be passed in a CLI fashion for visualization.

```APIDOC
## yourdfpy.viz.main(args)

### Description
Wrapper allowing string arguments in a CLI fashion.

### Parameters
#### Path Parameters
* **args** (List[str]) - Required - command line parameters as list of strings (for example  `["--verbose", "42"]`).
```

--------------------------------

### Create Virtual Environment with Conda

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Create and activate a Conda environment for the project, pre-installing necessary packages like Python, six, virtualenv, pytest, and pytest-cov.

```bash
conda create -n pyscaffold python=6 virtualenv pytest pytest-cov
conda activate pyscaffold
```

--------------------------------

### Visualize URDF Model from Command Line

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Use the yourdfpy command-line tool to visualize a URDF file. This command requires the path to your URDF file.

```bash
yourdfpy ./my_description/urdf/robot.urdf
```

--------------------------------

### List Available Tox Checks

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

View all available pre-configured tasks and checks that can be run with Tox.

```bash
tox -av
```

--------------------------------

### Clean Build Artifacts with tox

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

Use this command to clean the 'dist' and 'build' folders before creating a new release. This ensures no old build artifacts interfere with the new release.

```bash
tox -e clean
```

--------------------------------

### yourdfpy.viz.parse_args

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Parses command line parameters provided as a list of strings.

```APIDOC
## yourdfpy.viz.parse_args(args)

### Description
Parse command line parameters

### Parameters
#### Path Parameters
* **args** (List[str]) - Required - command line parameters as list of strings (for example  `["--help"]`).

### Returns
#### Success Response
- **argparse.Namespace** - command line parameters namespace
```

--------------------------------

### Create Montage of Scene Images

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Creates a montage image from multiple PNG scene images. This command-line usage is typically run after generating individual scene images.

```bash
montage /tmp/test*png -geometry +50+0 -tile x1 /tmp/montage_geom.jpg
```

--------------------------------

### Upload to PyPI

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Uploads distribution files to the main PyPI repository. This is the final step for releasing a new version.

```bash
twine upload dist/*
```

--------------------------------

### Fetch All Tags

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Ensure all tags are fetched from the upstream repository, useful for verifying versions.

```bash
git describe --abbrev=0 --tags
```

--------------------------------

### Upload to TestPyPI

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Uploads distribution files to the TestPyPI repository. This is a preliminary step before uploading to the main PyPI.

```bash
python setup.py bdist_wheel
twine upload -r testpypi dist/*
```

--------------------------------

### show

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Opens a simple viewer to display the URDF model. Users can choose to visualize either the collision or visual geometry.

```APIDOC
## show(collision_geometry=False, callback=None)

### Description
Open a simpler viewer displaying the URDF model.

### Parameters
#### Path Parameters
- **collision_geometry** (bool, optional) - Whether to display the <collision> or <visual> elements. Defaults to False.
```

--------------------------------

### Recreate Tox Environment

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Recreate the Tox environment with the -r flag if dependencies are missing or issues arise.

```bash
tox -r -e docs
```

--------------------------------

### Tag and Push Git Repository

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Commands for tagging a new version and pushing it to the remote repository. This is part of the deployment process.

```bash
git tag -l
rm dist/*
rm -rf build/
git gui # commit something?
git tag v<semver>
git push origin main
git push origin <tag_name>
```

--------------------------------

### Alternative: Manual Cleanup

Source: https://github.com/clemense/yourdfpy/blob/main/docs/contributing.md

If 'tox -e clean' is not available or preferred, you can manually remove the 'dist' and 'build' directories using standard shell commands.

```bash
rm -rf dist build
```

--------------------------------

### Push Branch to Remote

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Push your local feature branch to the remote repository on the code hosting service.

```bash
git push -u origin my-feature
```

--------------------------------

### Load URDFs and Measure Performance

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

This code snippet demonstrates how to load a list of URDF files using different libraries (urdfpy, urdf_parser_py, yourdfpy) and measures their parsing times. It also shows how to load URDFs without mesh loading and scene graph building using yourdfpy.

```python
robot_assets = ['robot-assets/urdfs/robots/barret_hand/bhand_model.URDF', 'robot-assets/urdfs/robots/robotiq_gripper/robotiq_arg85_description.URDF', 'robot-assets/urdfs/robots/anymal/anymal.urdf', 'robot-assets/urdfs/robots/franka_panda/panda.urdf', 'robot-assets/urdfs/robots/ginger_robot/gingerurdf.urdf', 'robot-assets/urdfs/robots/halodi/eve_r3.urdf', 'robot-assets/urdfs/robots/kinova/kinova.urdf', 'robot-assets/urdfs/robots/kuka_iiwa/model.urdf', 'robot-assets/urdfs/robots/pr2/pr2.urdf', 'robot-assets/urdfs/robots/ur10/ur10_robot.urdf', 'robot-assets/urdfs/robots/ur5/ur5_gripper.urdf', 'robot-assets/urdfs/robots/yumi/yumi.urdf']

import urdfpy
import urdf_parser_py
import yourdfpy

from functools import partial

def load_urdfs(fnames, load_fn):
    results = {fname: None for fname in fnames}
    for fname in fnames:
        try:
            x = load_fn(fname)
            results[fname] = x
        except:
            print("Problems loading: ", fname)
            pass
    print(sum([1 for x, y in results.items() if y is not None]), "/", len(fnames))
    return results

# parsing success rate
load_urdfs(robot_assets, urdfpy.URDF.load)
load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
load_urdfs(robot_assets, yourdfpy.URDF.load)

# parsing times
%timeit load_urdfs(robot_assets, urdfpy.URDF.load)
%timeit load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
%timeit load_urdfs(robot_assets, yourdfpy.URDF.load)
%timeit load_urdfs(robot_assets, partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))
```

--------------------------------

### Stage and Commit Changes

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Stage modified files and commit them with a descriptive message. Ensure pre-commit hooks pass.

```bash
git add <MODIFIED FILES>
git commit
```

--------------------------------

### Visualization Utilities

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/modules.md

Functions for generating visualizations, including joint limit trajectories and setting up logging.

```APIDOC
## generate_joint_limit_trajectory()

### Description
Generates a trajectory for joint limits.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## main()

### Description
Main entry point for the visualization module.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## parse_args()

### Description
Parses command-line arguments for the visualization module.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## run()

### Description
Executes the main visualization logic.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## setup_logging()

### Description
Sets up the logging configuration for the visualization module.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## viewer_callback()

### Description
Callback function for the viewer.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

--------------------------------

### Compare URDF Loading Speed

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Compares the loading speed of URDF files using yourdfpy and urdf_parser_py. This snippet is useful for performance benchmarking.

```python
urdfpy_fnames = [x for x, y in load_urdfs(robot_assets, urdfpy.URDF.load).items() if y is not None]
%timeit load_urdfs(urdfpy_fnames, yourdfpy.URDF.load)
```

```python
urdfparser_fnames = [x for x, y in load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.from_xml_file).items() if y is not None]
%timeit load_urdfs(urdfparser_fnames, functools.partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))
```

--------------------------------

### zero_cfg

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Returns the zero configuration for the URDF model.

```APIDOC
## zero_cfg

### Description
Returns the zero configuration for the URDF model.

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (np.ndarray) - The zero configuration.

#### Response Example
None
```

--------------------------------

### Create a Feature Branch

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Create a new branch for your feature or bugfix. Never work directly on the master branch.

```bash
git checkout -b my-feature
```

--------------------------------

### load

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Loads a URDF model from a specified file path or file-like object. This is the primary method for initializing a URDF model within the library, with various options for controlling mesh loading and scene graph construction.

```APIDOC
## load(fname_or_file, **kwargs)

### Description
Load URDF file from filename or file object.

### Parameters
#### Path Parameters
- **fname_or_file** (str or file object) - Required - A filename or file object, file-like object, stream representing the URDF file.
#### Query Parameters
- **build_scene_graph** (bool, optional) - Whether to build a scene graph to enable transformation queries and forward kinematics. Defaults to True.
- **build_collision_scene_graph** (bool, optional) - Whether to build a scene graph for <collision> elements. Defaults to False.
- **load_meshes** (bool, optional) - Whether to load the meshes referenced in the <mesh> elements. Defaults to True.
- **load_collision_meshes** (bool, optional) - Whether to load the collision meshes referenced in the <mesh> elements. Defaults to False.
- **filename_handler** (list[type], optional) - Any function f(in: str) -> str, that maps filenames in the URDF to actual resources. Can be used to customize treatment of package:// directives or relative/absolute filenames. Defaults to None.
- **mesh_dir** (str, optional) - A root directory used for loading meshes. Defaults to “”.
- **force_mesh** (bool, optional) - Each loaded geometry will be concatenated into a single one (instead of being turned into a graph; in case the underlying file contains multiple geometries). This might loose texture information but the resulting scene graph will be smaller. Defaults to False.
- **force_collision_mesh** (bool, optional) - Same as force_mesh, but for collision scene. Defaults to True.

### Raises
**ValueError** – If filename does not exist.

### Returns
URDF model.

### Return type
yourdfpy.URDF
```

--------------------------------

### scene

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Provides access to a trimesh Scene object representing the URDF model. This allows for advanced visualization and manipulation of the robot's geometry.

```APIDOC
## scene

### Description
A scene object representing the URDF model.

### Returns
A trimesh scene object.

### Return type
trimesh.Scene
```

--------------------------------

### View Commit History

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Inspect the commit history to understand recurring communication patterns for writing descriptive commit messages.

```bash
git log --graph --decorate --pretty=oneline --abbrev-commit --all
```

--------------------------------

### Generate URDF Scene Visualizations

Source: https://github.com/clemense/yourdfpy/blob/main/README.md

Generates and saves images of URDF scenes. This code iterates through robot assets, loads them, sets up a camera, and saves the scene as a PNG image. It includes basic error handling for loading issues.

```python
cam_rot = s.camera_transform
robot_assets = glob.glob('/data/robot-assets/urdfs/robots/**/*.urdf')
for i, fname in enumerate(robot_assets):
  try:
    s = yourdfpy.URDF.load(fname).scene
    cam_T = s.camera.look_at(points=s.convex_hull.vertices, rotation=cam_rot) # distance=2.6
    s.camera_transform = cam_T
    png = s.save_image()
    with open(f"/tmp/test{i:02}.png", 'wb') as f:
        f.write(png)
  except Exception as e:
        print(e)
```

--------------------------------

### filename_handler_add_prefix

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Adds a prefix to a given filename.

```APIDOC
## filename_handler_add_prefix(fname, prefix)

### Description
Adds a prefix to a given filename.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **fname** (str) - Required - A file name.
* **prefix** (str) - Required - A prefix.

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (str) - Prefix plus file name.

#### Response Example
None
```

--------------------------------

### apply_visual_color

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Applies the color of the visual material to a Trimesh object.

```APIDOC
## apply_visual_color(geom, visual, material_map)

### Description
Applies the color of the visual material to a Trimesh object.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **geom** (Trimesh) - Required - Trimesh to color.
* **visual** (yourdfpy.urdf.Visual) - Required - Visual description from XML.
* **material_map** (Dict[str, yourdfpy.urdf.Material]) - Required - Dictionary mapping material names to their definitions.

### Request Example
None

### Response
#### Success Response (200)
None

#### Response Example
None
```

--------------------------------

### yourdfpy.urdf.Robot

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents a URDF robot model, containing lists of links, joints, materials, transmissions, and Gazebo-specific elements.

```APIDOC
## class yourdfpy.urdf.Robot(name: str, links: List[yourdfpy.urdf.Link] = <factory>, joints: List[yourdfpy.urdf.Joint] = <factory>, materials: List[yourdfpy.urdf.Material] = <factory>, transmission: List[str] = <factory>, gazebo: List[str] = <factory>)

### Description
Represents a URDF robot model, containing lists of links, joints, materials, transmissions, and Gazebo-specific elements.

### Parameters
* **name** (str) - The name of the robot.
* **links** (List[yourdfpy.urdf.Link]) - A list of Link objects.
* **joints** (List[yourdfpy.urdf.Joint]) - A list of Joint objects.
* **materials** (List[yourdfpy.urdf.Material]) - A list of Material objects.
* **transmission** (List[str]) - A list of transmission configurations.
* **gazebo** (List[str]) - A list of Gazebo-specific configurations.
```

--------------------------------

### Load URDFs and Measure Parsing Success Rate

Source: https://github.com/clemense/yourdfpy/blob/main/docs/readme.md

This function loads a list of URDF files using a provided loading function and reports the success rate. It's used to compare the robustness of different URDF parsing libraries.

```python
robot_assets = ['robot-assets/urdfs/robots/barret_hand/bhand_model.URDF', 'robot-assets/urdfs/robots/robotiq_gripper/robotiq_arg85_description.URDF', 'robot-assets/urdfs/robots/anymal/anymal.urdf', 'robot-assets/urdfs/robots/franka_panda/panda.urdf', 'robot-assets/urdfs/robots/ginger_robot/gingerurdf.urdf', 'robot-assets/urdfs/robots/halodi/eve_r3.urdf', 'robot-assets/urdfs/robots/kinova/kinova.urdf', 'robot-assets/urdfs/robots/kuka_iiwa/model.urdf', 'robot-assets/urdfs/robots/pr2/pr2.urdf', 'robot-assets/urdfs/robots/ur10/ur10_robot.urdf', 'robot-assets/urdfs/robots/ur5/ur5_gripper.urdf', 'robot-assets/urdfs/robots/yumi/yumi.urdf']

import urdfpy
import urdf_parser_py
import yourdfpy

from functools import partial

def load_urdfs(fnames, load_fn):
    results = {fname: None for fname in fnames}
    for fname in fnames:
        try:
            x = load_fn(fname)
            results[fname] = x
        except:
            print("Problems loading: ", fname)
            pass
    print(sum([1 for x, y in results.items() if y is not None]), "/", len(fnames))
    return results

# parsing success rate
load_urdfs(robot_assets, urdfpy.URDF.load)
load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
load_urdfs(robot_assets, yourdfpy.URDF.load)
```

--------------------------------

### yourdfpy.urdf.URDF.center_cfg

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Calculates and returns the center configuration of the URDF model. It uses the average of each joint's limits if available, otherwise defaults to zero.

```APIDOC
## property center_cfg

### Description
Return center configuration of URDF model by using the average of each joint’s limits if present, otherwise zero.

### Returns
* **(n), float** - The default configuration of the URDF model.
```

--------------------------------

### Run Pytest with Debugger

Source: https://github.com/clemense/yourdfpy/blob/main/CONTRIBUTING.rst

Execute a specific failing test with the --pdb option to enter an interactive debugging session upon error.

```bash
tox -- -k <NAME OF THE FALLING TEST> --pdb
```

--------------------------------

### Filename Handler Functions

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/modules.md

Utility functions for handling filenames within URDF files.

```APIDOC
## filename_handler_absolute2relative(filename)

### Description
Converts an absolute filename to a relative one.

### Method
`filename_handler_absolute2relative(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The absolute filename.

### Response
#### Success Response (str)
Returns the relative filename.
```

```APIDOC
## filename_handler_add_prefix(prefix)

### Description
Creates a filename handler that adds a prefix to filenames.

### Method
`filename_handler_add_prefix(prefix)`

### Parameters
#### Path Parameters
- **prefix** (str) - Required - The prefix to add.

### Response
#### Success Response (function)
Returns a filename handler function.
```

```APIDOC
## filename_handler_ignore_directive(filename)

### Description
Handles filenames by ignoring specific directives.

### Method
`filename_handler_ignore_directive(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the handled filename.
```

```APIDOC
## filename_handler_ignore_directive_package(filename)

### Description
Handles filenames by ignoring package directives.

### Method
`filename_handler_ignore_directive_package(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the handled filename.
```

```APIDOC
## filename_handler_magic(filename)

### Description
Applies a magic handler to filenames.

### Method
`filename_handler_magic(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the handled filename.
```

```APIDOC
## filename_handler_meta(filename)

### Description
Handles filenames using meta information.

### Method
`filename_handler_meta(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the handled filename.
```

```APIDOC
## filename_handler_null(filename)

### Description
A null filename handler that returns the filename unchanged.

### Method
`filename_handler_null(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the original filename.
```

```APIDOC
## filename_handler_relative(filename)

### Description
Handles filenames by ensuring they are relative.

### Method
`filename_handler_relative(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The filename to handle.

### Response
#### Success Response (str)
Returns the relative filename.
```

--------------------------------

### write_xml_file

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Writes the URDF model to an XML file.

```APIDOC
## write_xml_file(fname)

### Description
Writes the URDF model to an XML file.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **fname** (str) - Required - Filename of the file to be written. Usually ends in .urdf.

### Request Example
None

### Response
#### Success Response (200)
None

#### Response Example
None
```

--------------------------------

### yourdfpy.urdf.filename_handler_meta

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A filename handler that calls other filename handlers until the resulting file name points to an existing file. It takes a filename and a list of handler functions, returning the resolved filename or the input if no file is found.

```APIDOC
## yourdfpy.urdf.filename_handler_meta(fname, filename_handlers)

### Description
A filename handler that calls other filename handlers until the resulting file name points to an existing file.

### Parameters
#### Path Parameters
* **fname** (str) - Required - A file name.
* **filename_handlers** (list[fn]) - Required - A list of function pointers to filename handlers.

### Returns
#### Success Response
- **str** - The resolved file name that points to an existing file or the input if none of the files exists.
```

--------------------------------

### yourdfpy.viz.generate_joint_limit_trajectory

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Generates a trajectory for all actuated joints by interpolating between their limits. For continuous joints, it interpolates between 0 and 2*pi.

```APIDOC
## yourdfpy.viz.generate_joint_limit_trajectory(urdf_model, loop_time)

### Description
Generate a trajectory for all actuated joints that interpolates between joint limits. For continuous joint interpolate between [0, 2 * pi].

### Parameters
#### Path Parameters
* **urdf_model** (yourdfpy.URDF) - Required - 
* **loop_time** (float) - Required - Time in seconds to loop through the trajectory.

### Returns
#### Success Response
- **dict** - A dictionary over all actuated joints with list of configuration values.
```

--------------------------------

### URDF Filename Handlers

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/modules.md

Functions for handling URDF filenames, including relative paths and recursive searching.

```APIDOC
## filename_handler_relative_to_urdf_file()

### Description
Handles URDF filenames relative to the URDF file's location.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

```APIDOC
## filename_handler_relative_to_urdf_file_recursive()

### Description
Recursively handles URDF filenames relative to the URDF file's location.

### Method
N/A (Python function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

--------------------------------

### filename_handler_magic

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A general-purpose filename handler that attempts to resolve a filename, returning the input if no resolution is found.

```APIDOC
## filename_handler_magic(fname, dir)

### Description
A general-purpose filename handler that attempts to resolve a filename, returning the input if no resolution is found.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **fname** (str) - Required - A file name.
* **dir** (str) - Required - A directory.

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (str) - The file name that exists or the input if nothing is found.

#### Response Example
None
```

--------------------------------

### yourdfpy.urdf.filename_handler_relative

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A filename handler that joins a given filename with a specified directory.

```APIDOC
## yourdfpy.urdf.filename_handler_relative(fname, dir)

### Description
A filename handler that joins a file name with a directory.

### Parameters
#### Path Parameters
* **fname** (str) - Required - A file name.
* **dir** (str) - Required - A directory.

### Returns
#### Success Response
- **str** - The directory joined with the file name.
```

--------------------------------

### write_xml

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Writes the URDF model to an XML element hierarchy.

```APIDOC
## write_xml()

### Description
Writes the URDF model to an XML element hierarchy.

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (etree.ElementTree) - XML data.

#### Response Example
None
```

--------------------------------

### update_cfg

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Updates the joint configuration of a URDF model and performs forward kinematics. It accepts a dictionary, list, tuple, or numpy array for the configuration.

```APIDOC
## update_cfg(configuration)

### Description
Updates the joint configuration of a URDF model and performs forward kinematics. It accepts a dictionary, list, tuple, or numpy array for the configuration.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **configuration** (dict, list[float], tuple[float], np.ndarray) - Required - A mapping from joints or joint names to configuration values, or a list containing a value for each actuated joint.

### Request Example
None

### Response
#### Success Response (200)
None

#### Response Example
None

### Errors
* **ValueError**: Raised if dimensionality of configuration does not match number of actuated joints of URDF model.
* **TypeError**: Raised if configuration is neither a dict, list, tuple or np.ndarray.
```

--------------------------------

### yourdfpy.urdf.filename_handler_null

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A lazy filename handler that simply returns its input filename.

```APIDOC
## yourdfpy.urdf.filename_handler_null(fname)

### Description
A lazy filename handler that simply returns its input.

### Parameters
#### Path Parameters
* **fname** (str) - Required - A file name.

### Returns
#### Success Response
- **str** - Same file name.
```

--------------------------------

### yourdfpy.urdf.URDF.collision_scene

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Provides a trimesh Scene object representing the collision elements defined in the URDF model.

```APIDOC
## property collision_scene

### Description
A scene object representing the <collision> elements of the URDF model.

### Returns
* **trimesh.Scene** - A trimesh scene object containing collision geometry.
```

--------------------------------

### filename_handler_ignore_directive

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Removes any directive prefix (e.g., '://') from a filename.

```APIDOC
## filename_handler_ignore_directive(fname)

### Description
Removes any directive prefix (e.g., '://') from a filename.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **fname** (str) - Required - A file name.

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (str) - The file name without the prefix.

#### Response Example
None
```

--------------------------------

### URDF Class Methods

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/modules.md

Methods available on the URDF class for loading, validating, and manipulating URDF data.

```APIDOC
## URDF.clear_errors()

### Description
Clears any accumulated errors in the URDF object.

### Method
`clear_errors()`

### Parameters
None

### Response
None
```

```APIDOC
## URDF.contains(element_name)

### Description
Checks if a URDF element with the given name exists.

### Method
`contains(element_name)`

### Parameters
#### Path Parameters
- **element_name** (str) - Required - The name of the element to check for.

### Response
#### Success Response (bool)
Returns True if the element exists, False otherwise.
```

```APIDOC
## URDF.get_transform(link_name)

### Description
Retrieves the transformation matrix for a given link.

### Method
`get_transform(link_name)`

### Parameters
#### Path Parameters
- **link_name** (str) - Required - The name of the link.

### Response
#### Success Response (numpy.ndarray)
Returns the 4x4 transformation matrix.
```

```APIDOC
## URDF.load(filename)

### Description
Loads URDF data from a file.

### Method
`load(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The path to the URDF file.

### Response
None
```

```APIDOC
## URDF.show()

### Description
Displays a visual representation of the URDF model.

### Method
`show()`

### Parameters
None

### Response
None
```

```APIDOC
## URDF.split_along_joints(joint_names)

### Description
Splits the URDF model into multiple URDF objects along specified joints.

### Method
`split_along_joints(joint_names)`

### Parameters
#### Path Parameters
- **joint_names** (list[str]) - Required - A list of joint names to split along.

### Response
#### Success Response (list[URDF])
Returns a list of URDF objects.
```

```APIDOC
## URDF.update_cfg(cfg)

### Description
Updates the configuration of the URDF model.

### Method
`update_cfg(cfg)`

### Parameters
#### Path Parameters
- **cfg** (numpy.ndarray) - Required - The new configuration array.

### Response
None
```

```APIDOC
## URDF.validate()

### Description
Validates the URDF model for correctness and consistency.

### Method
`validate()`

### Parameters
None

### Response
#### Success Response (list[URDFError])
Returns a list of validation errors, or an empty list if valid.
```

```APIDOC
## URDF.validate_filenames()

### Description
Validates that all filenames referenced in the URDF are accessible.

### Method
`validate_filenames()`

### Parameters
None

### Response
#### Success Response (list[URDFError])
Returns a list of filename validation errors, or an empty list if all are valid.
```

```APIDOC
## URDF.write_xml(filename)

### Description
Writes the URDF model to an XML file.

### Method
`write_xml(filename)`

### Parameters
#### Path Parameters
- **filename** (str) - Required - The path to the output XML file.

### Response
None
```

```APIDOC
## URDF.write_xml_file(file_obj)

### Description
Writes the URDF model to an XML file object.

### Method
`write_xml_file(file_obj)`

### Parameters
#### Path Parameters
- **file_obj** (file object) - Required - The file object to write to.

### Response
None
```

```APIDOC
## URDF.write_xml_string()

### Description
Returns the URDF model as an XML string.

### Method
`write_xml_string()`

### Parameters
None

### Response
#### Success Response (str)
Returns the URDF model as an XML string.
```

--------------------------------

### write_xml_string

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Writes the URDF model to a string.

```APIDOC
## write_xml_string(**kwargs)

### Description
Writes the URDF model to a string.

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (str) - String of the xml representation of the URDF model.

#### Response Example
None
```

--------------------------------

### yourdfpy.urdf.Actuator

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents an actuator in a URDF model, including its name, mechanical reduction, and hardware interfaces.

```APIDOC
## class yourdfpy.urdf.Actuator

### Description
Represents an actuator in a URDF model.

### Attributes
* **name** (str) - The name of the actuator.
* **mechanical_reduction** (float | None) - The mechanical reduction ratio of the actuator.
* **hardware_interfaces** (List[str]) - A list of hardware interfaces the actuator uses.
```

--------------------------------

### get_transform

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Retrieves the homogeneous transformation matrix between two specified frames. This is crucial for kinematic calculations and understanding the spatial relationships between different parts of the robot model.

```APIDOC
## get_transform(frame_to, frame_from=None, collision_geometry=False)

### Description
Get the transform from one frame to another.

### Parameters
#### Path Parameters
- **frame_to** (str) - Required - Node name.
- **frame_from** (str, optional) - Node name. If None it will be set to self.base_frame. Defaults to None.
- **collision_geometry** (bool, optional) - Whether to use the collision geometry scene graph (instead of the visual geometry). Defaults to False.

### Raises
**ValueError** – Raised if scene graph wasn’t constructed during intialization.

### Returns
Homogeneous transformation matrix

### Return type
(4, 4) float
```

--------------------------------

### yourdfpy.urdf.SafetyController

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Defines safety controller parameters for a joint, including soft limits and gains for position and velocity.

```APIDOC
## class yourdfpy.urdf.SafetyController(soft_lower_limit: float | None = None, soft_upper_limit: float | None = None, k_position: float | None = None, k_velocity: float | None = None)

### Description
Defines safety controller parameters for a joint, including soft limits and gains for position and velocity.

### Parameters
* **soft_lower_limit** (float | None) - The soft lower limit for the joint.
* **soft_upper_limit** (float | None) - The soft upper limit for the joint.
* **k_position** (float | None) - The proportional gain for position control.
* **k_velocity** (float | None) - The proportional gain for velocity control.
```

--------------------------------

### yourdfpy.urdf.Calibration

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents calibration parameters for a joint in a URDF model.

```APIDOC
## class yourdfpy.urdf.Calibration

### Description
Represents calibration parameters for a joint.

### Attributes
* **rising** (float | None) - The rising value for calibration.
* **falling** (float | None) - The falling value for calibration.
```

--------------------------------

### yourdfpy.urdf.URDF.base_link

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Retrieves the name of the base or root link of the URDF model.

```APIDOC
## property base_link

### Description
Name of URDF base/root link.

### Returns
* **str** - The name of the base link of the URDF model.
```

--------------------------------

### yourdfpy.urdf.Dynamics

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents dynamic properties of a joint in a URDF model.

```APIDOC
## class yourdfpy.urdf.Dynamics

### Description
Represents dynamic properties of a joint.

### Attributes
* **damping** (float | None) - The damping coefficient.
* **friction** (float | None) - The friction coefficient.
```

--------------------------------

### yourdfpy.urdf.Mimic

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Defines a mimic joint relationship, where one joint's movement mimics another's with optional multiplier and offset.

```APIDOC
## class yourdfpy.urdf.Mimic(joint: str, multiplier: float | None = None, offset: float | None = None)

### Description
Defines a mimic joint relationship, where one joint's movement mimics another's with optional multiplier and offset.

### Parameters
* **joint** (str) - The name of the joint to mimic.
* **multiplier** (float | None) - An optional multiplier for the mimicked joint's movement.
* **offset** (float | None) - An optional offset for the mimicked joint's movement.
```

--------------------------------

### num_dofs

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Provides the number of degrees of freedom (DOFs) for the actuated joints in the URDF model. The number of DOFs can vary based on the joint type.

```APIDOC
## num_dofs

### Description
Number of degrees of freedom of actuated joints. Depending on the type of the joint, the number of DOFs might vary.

### Returns
Degrees of freedom.

### Return type
int
```

--------------------------------

### yourdfpy.urdf.Inertial

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents the inertial properties of a link in a URDF model.

```APIDOC
## class yourdfpy.urdf.Inertial

### Description
Represents inertial properties of a link.

### Attributes
* **origin** (numpy.ndarray | None) - The origin (pose) of the inertial frame.
* **mass** (float | None) - The mass of the link.
* **inertia** (numpy.ndarray | None) - The inertia tensor.
```

--------------------------------

### Measure URDF Parsing Times

Source: https://github.com/clemense/yourdfpy/blob/main/docs/readme.md

This code measures the time taken to parse a list of URDF files using different libraries and configurations. It includes a specific test for yourdfpy with mesh loading disabled.

```python
# parsing times
%timeit load_urdfs(robot_assets, urdfpy.URDF.load)
%timeit load_urdfs(robot_assets, urdf_parser_py.urdf.URDF.load)
%timeit load_urdfs(robot_assets, yourdfpy.URDF.load)
%timeit load_urdfs(robot_assets, partial(yourdfpy.URDF.load, load_meshes=False, build_scene_graph=False))
```

--------------------------------

### link_map

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

A dictionary mapping link names to their corresponding link objects. This property facilitates direct access to link information within the URDF structure.

```APIDOC
## link_map

### Description
A dictionary mapping link names to link objects.

### Returns
Mapping from link name (str) to Link.

### Return type
dict
```

--------------------------------

### filename_handler_ignore_directive_package

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Removes the 'package://' directive and its associated package name from a filename, and then removes any other directives.

```APIDOC
## filename_handler_ignore_directive_package(fname)

### Description
Removes the 'package://' directive and its associated package name from a filename, and then removes any other directives.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
* **fname** (str) - Required - A file name.

### Request Example
None

### Response
#### Success Response (200)
* **Returns** (str) - The file name without 'package://' and the package name.

#### Response Example
None
```

--------------------------------

### apply_visual_color Function

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/modules.md

Applies a color to a visual element in the URDF.

```APIDOC
## apply_visual_color(visual, color)

### Description
Applies a specified color to a URDF visual element.

### Method
`apply_visual_color(visual, color)`

### Parameters
#### Path Parameters
- **visual** (Visual) - Required - The visual element to color.
- **color** (list[float]) - Required - A list of four floats representing RGBA color values (0.0 to 1.0).

### Response
None
```

--------------------------------

### yourdfpy.urdf.Texture

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents a texture resource in the URDF model, storing the filename of the texture image.

```APIDOC
## class yourdfpy.urdf.Texture(filename: str)

### Description
Represents a texture resource in the URDF model, storing the filename of the texture image.

### Parameters
* **filename** (str) - The path to the texture image file.
```

--------------------------------

### yourdfpy.urdf.Mesh

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents a mesh resource in the URDF model. It stores the filename of the mesh and an optional scale factor.

```APIDOC
## class yourdfpy.urdf.Mesh(filename: str, scale: float | numpy.ndarray | NoneType = None)

### Description
Represents a mesh resource in the URDF model. It stores the filename of the mesh and an optional scale factor.

### Parameters
* **filename** (str) - The path to the mesh file.
* **scale** (float | numpy.ndarray | None) - An optional scaling factor to apply to the mesh.
```

--------------------------------

### yourdfpy.urdf.URDF.actuated_joints

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Retrieves a list of actuated joint objects from the URDF model, excluding mimic and fixed joints.

```APIDOC
## property actuated_joints

### Description
List of actuated joints. This excludes mimic and fixed joints.

### Returns
* **list[yourdfpy.urdf.Joint]** - A list of actuated Joint objects.
```

--------------------------------

### yourdfpy.urdf.Link

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents a link in a URDF model, which can have inertial, visual, and collision properties.

```APIDOC
## class yourdfpy.urdf.Link

### Description
Represents a link.

### Attributes
* **name** (str) - The name of the link.
* **inertial** (yourdfpy.urdf.Inertial | None) - The inertial properties of the link.
* **visuals** (List[yourdfpy.urdf.Visual]) - A list of visual elements for the link.
* **collisions** (List[yourdfpy.urdf.Collision]) - A list of collision elements for the link.
```

--------------------------------

### yourdfpy.urdf.Box

Source: https://github.com/clemense/yourdfpy/blob/main/docs/api/yourdfpy.md

Represents a box geometry in a URDF model.

```APIDOC
## class yourdfpy.urdf.Box

### Description
Represents a box geometry.

### Attributes
* **size** (numpy.ndarray) - The dimensions of the box.
```