An example of how to load and animate a URDF given some changing joint angles. ## Logging and visualizing with Rerun This example demonstrates how to: 1. Load and log a URDF file as a static resource 2. Parse the URDF structure using `UrdfTree` 3. Animate joints by logging dynamic transforms The key steps are: ```python import rerun as rr import rerun.urdf import UrdfTree # Log the URDF file once, as a static resource rec.log_file_from_path(urdf_path, static=True) # Load the URDF tree structure into memory urdf_tree = UrdfTree.from_file_path(urdf_path) # Animate joints by logging transforms for joint in urdf_tree.joints(): if joint.joint_type == "revolute": # compute_transform gives you a complete transform that is ready to log, # calculated from joint origin and the current angle and with the frame names set. transform = joint.compute_transform(angle) rec.log("transforms", transform) ```