Urchin is a fork of the no-longer-updated urdfpy. The API is still mostly the
same. The main difference currently is that you can load urdfs without the
meshes (which is ~100x faster) by passing the flag lazy_load=True to the URDF.load function.
You can install urchin directly from pip.
pip install urchinSee the urdfpy documentation for the current docs. urchin will have its own
docs when it diverges enough to deserve it.
The urdfpy docs can be found here for more information.