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.

nao.mp4

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] [--application-id APPLICATION_ID] [--recording-id RECORDING_ID] [--entity-path-prefix ENTITY_PATH_PREFIX] [--timeless] [--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

Temporary fix

This version of the package overcomes issue rerun-io/rerun#8191. In the currect version of rerun, external data loaders lack parameters opened_recording_id and opened_application_id. Once the above issue is fixed, follow the instruction on line 356 and 389.