In the previous 0.28 release, we overhauled Rerun's built-in URDF loader to work with TF-style transforms with and frames.
Now, taking advantage of these entity-path-independent transforms, we simplified the hierarchy in which URDF assets are stored.
Collision and visual meshes are now below separate entity path roots, making it easy to toggle one or the other.
Additionally, the paths are now more compact to make it easier to scroll through them.
We added a UrdfTree Python utility that can be used to simplify operations with URDF models, e.g.:
accessing links and joints
computing transforms from joint states
retrieving geometry entity paths for links
We also updated our animated_urdf.py demo to use this utility, showing for example how you can dynamically change the color of a gripper link based on its angle.
There's now an experimental screenshot API which allows to take screenshots of the Viewer or individual views:
# Connect to a local viewer.
viewer = ViewerClient()
# Screenshot the entire viewer.
viewer.save_screenshot("entire_viewer.jpg")
# Screenshot only the view we created earlier.
viewer.save_screenshot("my_view.png", view_id=view.id)
We refreshed the documentation showing examples of how some ROS concepts and messages can be mapped to Rerun, together with an updated Python node example. The documentation page can be found here.
Improved memory panel
You can now get some insight on which parts of your recording use how much memory in the viewer using the improved memory panel:
⚠️ Breaking changes
Python: New API for visualizer overrides - VisualizerOverrides removed, now pass visualizer objects directly (e.g., rr.SeriesLines())
Python: Entry.update() deprecated in favor of Entry.set_name()
Python: CatalogClient and Server constructor parameters renamed (addr → url/host)
Python: Removed deprecated rerun.dataframe module (use rerun.server.Server and rerun.catalog instead)
Python: Removed deprecated rerun.catalog APIs from 0.28
Python: Internal submodules moved to underscore-prefixed names (e.g., rr.color_conversion → rr._color_conversion)
CLI: rerun server --addr renamed to rerun server --host
Blueprint: Component overrides from .rbl files created in previous versions cannot be loaded in 0.29
Data Platform: Datasets need re-registration to populate name and start_time in segment table
🧳 Check the migration guide for details: https://rerun.io/docs/reference/migration/migration-0-29
🔎 Details
🪵 Log API
Fix dropping of entities when using rerun rrd filter#12584
