wehub-resource-sync
48 lines
1.8 KiB
Markdown
48 lines
1.8 KiB
Markdown
<!--[metadata]
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title = "URDF"
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tags = ["3D", "Mesh", "URDF", "Animation"]
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channel = "main"
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include_in_manifest = true
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thumbnail = "https://static.rerun.io/animated-urdf-thumbnail/02cd73ad1155db0a202392b1fd8f8036070ad888/480w.png"
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thumbnail_dimensions = [480, 480]
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-->
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<picture>
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<img src="https://static.rerun.io/animated_urdf/ebdefa158ab6f26f9dc1cb1924fce4b846fe8db2/full.png" alt="">
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<source media="(max-width: 480px)" srcset="https://static.rerun.io/animated_urdf/ebdefa158ab6f26f9dc1cb1924fce4b846fe8db2/480w.png">
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<source media="(max-width: 768px)" srcset="https://static.rerun.io/animated_urdf/ebdefa158ab6f26f9dc1cb1924fce4b846fe8db2/768w.png">
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<source media="(max-width: 1024px)" srcset="https://static.rerun.io/animated_urdf/ebdefa158ab6f26f9dc1cb1924fce4b846fe8db2/1024w.png">
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<source media="(max-width: 1200px)" srcset="https://static.rerun.io/animated_urdf/ebdefa158ab6f26f9dc1cb1924fce4b846fe8db2/1200w.png">
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</picture>
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An example of how to load and animate a URDF given some changing joint angles.
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## Logging and visualizing with Rerun
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This example demonstrates how to:
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1. Load and log a URDF file as a static resource
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2. Parse the URDF structure using `UrdfTree`
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3. Animate joints by logging dynamic transforms
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The key steps are:
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```python
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import rerun as rr
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import rerun.urdf import UrdfTree
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# Log the URDF file once, as a static resource
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rec.log_file_from_path(urdf_path, static=True)
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# Load the URDF tree structure into memory
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urdf_tree = UrdfTree.from_file_path(urdf_path)
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# Animate joints by logging transforms
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for joint in urdf_tree.joints():
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if joint.joint_type == "revolute":
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# compute_transform gives you a complete transform that is ready to log,
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# calculated from joint origin and the current angle and with the frame names set.
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transform = joint.compute_transform(angle)
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rec.log("transforms", transform)
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```
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