Document built-in URDF loader #12056
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MichaelGrupp
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Don't merge until #12005 is done. Doesn't make sense to update documentation before we have the frame IDs in the URDF loader. |
MichaelGrupp
commented
Dec 2, 2025
| Once that is done, the joints can be updated by sending `Transform3D`s, where you have to set the `parent_frame` and `child_frame` fields explicitly to each joint's specific frame IDs. | ||
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| > ⚠️ Note: previous versions required you to send transforms with _implicit_ frame IDs, i.e. having to send each joint transform on a specific entity path. | ||
| > This was dropped in favor of _explicitly-named_ frame IDs, which is more in line with ROS and allows you to send all transform updates on one entity (e.g. a `transforms` entity like in the example below). |
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Note: The ROS node example is the last remaining part that still uses a custom URDF loader. I will handle this as part of #11968 and not here. |
oxkitsune
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Dec 2, 2025
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| Here is an example that demonstrates how to load and update an `URDF` with the Python SDK: | ||
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| ```python |
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perhaps this example should become a snippet? That way we can easily add examples in other languages and get some CI support for testing the api used in this page.
snippets can be included in a doc page like this:
snippet: archetypes/points3d_row_updates
Co-authored-by: Gijs de Jong <[email protected]>
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This is basically an extended version of the 0.24 release post, and incorporating the latest changes regarding TF-style transforms.
Closes: https://linear.app/rerun/issue/RR-2995
Depends on: #12005