URDF -> Rerun plugin
This is an example data-loader plugin that lets you view URDF files in the Rerun Viewer. It uses the external data loader mechanism to add this capability to the viewer without modifying the viewer itself.
External data loaders are executables that are available to the Rerun Viewer via the PATH variable, with a name that starts with rerun-loader-.
This example is written in Python, and uses urdf_parser_py to read the files. ROS package-relative paths support both ROS 1 and ROS 2-based resolving.
Installing the Rerun Viewer
The simplest option is just:
pip install rerun-sdk==0.20.3
Read this guide for more options.
Installing the plugin
Installing pipx
The most robust way to install the plugin to your PATH is using pipx.
If you don't have pipx installed on your system, you can follow the official instructions here.
Installing the plugin with pipx
Now you can install the plugin to your PATH using
pipx install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git
pipx ensurepath
Note: you can use the --python argument to specify the Python interpreter to use with pipx.
On unix-like systems --python $(which python) will use the currently active Python.
Make sure it's installed by running it from your terminal, which should output an error and usage description:
> rerun-loader-urdf
usage: rerun-loader-urdf [-h] [--opened-application-id APPLICATION_ID] [--recording-id RECORDING_ID] [--entity-path-prefix ENTITY_PATH_PREFIX] [--static] [--time TIME] [--sequence SEQUENCE] filepath
rerun-loader-urdf: error: the following arguments are required: filepath
Try it out
Download an example URDF file
curl -OL https://github.com/rerun-io/rerun-loader-python-example-urdf/raw/main/example.urdf
Open in the Rerun Viewer
You can either first open the viewer, and then open the file from there using drag-and-drop or the menu>open… dialog, or you can open it directly from the terminal like:
rerun example.urdf
1 maintainer
Metadata
1 maintainer
Release files for rerun-loader-urdf 0.1.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| rerun_loader_urdf-0.1.1.tar.gz | 38.6 kB | Without provenance | Details for rerun_loader_urdf-0.1.1.tar.gz |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Actions Reset |
|---|---|---|---|---|
| rerun_loader_urdf-0.1.1-py3-none-any.whl | Python 3 | none | any | Details for rerun_loader_urdf-0.1.1-py3-none-any.whl |
Total release size: 50.2 kB
Release files / rerun_loader_urdf-0.1.1.tar.gz
| Download URL | rerun_loader_urdf-0.1.1.tar.gz |
|---|---|
| Size | 38.6 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
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BLAKE2b-256 checksum How to use checksums |
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
uv/0.5.8
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Release files / rerun_loader_urdf-0.1.1-py3-none-any.whl
| Download URL | rerun_loader_urdf-0.1.1-py3-none-any.whl |
|---|---|
| Size | 11.5 kB |
| Tags | Python 3 |
|
SHA-256 checksum How to use checksums |
5e7f63cb9a8349cd4f25feca2e2c42ab33bc1b4f7d3e00da21cc811cd82874e4
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BLAKE2b-256 checksum How to use checksums |
7d6bbab1062a5173b86b802b60f71970192bbfb55a8e88ace4579553bdb24856
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| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
uv/0.5.8
|
Security for rerun-loader-urdf 0.1.1
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