wehub-resource-sync
33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
from pathlib import Path
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import rerun as rr
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from rerun import RecordingStream
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with RecordingStream("rerun_example_load_urdf") as rec:
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rec.spawn()
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# `log_file_from_path` automatically uses the built-in URDF importer.
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urdf_path = Path(__file__).parent / "minimal.urdf"
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rec.log_file_from_path(urdf_path, static=True)
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# The `flush` call is optional, but it helps with logging consistency,
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# because it ensures that the URDF finishes loading before continuing.
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rec.flush()
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# Later, in your logging code, you'll update the joints using transforms.
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# A minimal example for updating a revolute joint that connects two links:
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joint_axis = [0, 0, 1] # comes from URDF
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joint_angle = 1.216 # radians
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origin_xyz = [0, 0, 0.1] # comes from URDF
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# Make sure that `parent_frame` and `child_frame` match the joint's
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# frame IDs in the URDF file.
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rec.log(
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"transforms",
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rr.Transform3D(
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rotation=rr.RotationAxisAngle(axis=joint_axis, angle=joint_angle),
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translation=origin_xyz,
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parent_frame="base_link",
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child_frame="child_link",
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),
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)
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