Simple built-in URDF loader (#10105)

### Related
* Closes #10114

### What
Add built-in support for loading .urdf files.

### Shortcomings
* Is missing support for cylinders:
#1361
* Logging both visual and collision meshes leads to Z fighting. Could be
solved with #6541
* We get very deep entity trees (see
#1533)
* No support for external mesh files on web

### Testing
You can use these urdf meshes:
*
https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description
*
https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO100/so100.urdf
* https://github.com/Daniella1/urdf_files_dataset

### TODO
* [x] Some web support
* [x] Add support for other primitives than meshes
* [x] Log colors from URDF as albedo_factor overrides to Rerun
* [x] Try drag-dropping in an .urdf file in the native viewer
* [x] Try drag-dropping in an .urdf file in the web viewer
* [x] Handle non-relative mesh paths
* Add an URDF to git lfs for testing?
* Test animating a robot arm by logging joint angles separately

<img width="1303" alt="Screenshot 2025-05-31 at 11 17 44"
src="https://github.com/user-attachments/assets/e3206d26-e1cf-4161-b1d5-ecd58fe6d07b"
/>

---------

Co-authored-by: Gijs de Jong <[email protected]>
Co-authored-by: Gijs de Jong <[email protected]>

Author: emilk

Cargo.lock

@@ -2,6 +2,12 @@
 # It is not intended for manual editing.
 version = 4
 
+[[package]]
+name = "RustyXML"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b5ace29ee3216de37c0546865ad08edef58b0f9e76838ed8959a84a990e58c5"
+
 [[package]]
 name = "ab_glyph"
 version = "0.2.29"
@@ -6823,6 +6829,7 @@ dependencies = [
  "serde",
  "serde_json",
  "thiserror 1.0.65",
+ "urdf-rs",
  "walkdir",
 ]
 
@@ -9075,6 +9082,18 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "serde-xml-rs"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fb3aa78ecda1ebc9ec9847d5d3aba7d618823446a049ba2491940506da6e2782"
+dependencies = [
+ "log",
+ "serde",
+ "thiserror 1.0.65",
+ "xml-rs",
+]
+
 [[package]]
 name = "serde_derive"
 version = "1.0.219"
@@ -10318,6 +10337,20 @@ version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
+[[package]]
+name = "urdf-rs"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "074515a3e6dc230bbbdcf35830fd71b67b55ae2ac22bc4ff69d89412fc84b830"
+dependencies = [
+ "RustyXML",
+ "quick-xml 0.36.2",
+ "regex",
+ "serde",
+ "serde-xml-rs",
+ "thiserror 1.0.65",
+]
+
 [[package]]
 name = "ureq"
 version = "2.10.1"

Cargo.toml

@@ -332,6 +332,7 @@ tracing = { version = "0.1", default-features = false }
 type-map = "0.5"
 typenum = "1.15"
 unindent = "0.2"
+urdf-rs = "0.9.0"
 ureq = "2.9.2"
 url = "2.3"
 uuid = "1.1"

crates/store/re_data_loader/Cargo.toml

@@ -33,7 +33,7 @@ re_log_types.workspace = true
 re_log.workspace = true
 re_smart_channel.workspace = true
 re_tracing.workspace = true
-re_types = { workspace = true, features = ["image", "video"] }
+re_types = { workspace = true, features = ["ecolor", "glam", "image", "video"] }
 
 ahash.workspace = true
 anyhow.workspace = true
@@ -49,6 +49,7 @@ rayon.workspace = true
 serde.workspace = true
 serde_json.workspace = true
 thiserror.workspace = true
+urdf-rs.workspace = true
 walkdir.workspace = true
 
 [target.'cfg(not(any(target_arch = "wasm32")))'.dependencies]

crates/store/re_data_loader/src/lib.rs

@@ -24,9 +24,11 @@ pub mod loader_lerobot;
 #[cfg(not(target_arch = "wasm32"))]
 mod loader_external;
 
+mod loader_urdf;
+
 pub use self::{
     load_file::load_from_file_contents, loader_archetype::ArchetypeLoader,
-    loader_directory::DirectoryLoader, loader_rrd::RrdLoader,
+    loader_directory::DirectoryLoader, loader_rrd::RrdLoader, loader_urdf::UrdfDataLoader,
 };
 
 #[cfg(not(target_arch = "wasm32"))]
@@ -397,6 +399,7 @@ static BUILTIN_LOADERS: Lazy<Vec<Arc<dyn DataLoader>>> = Lazy::new(|| {
         Arc::new(LeRobotDatasetLoader),
         #[cfg(not(target_arch = "wasm32"))]
         Arc::new(ExternalLoader),
+        Arc::new(UrdfDataLoader),
     ]
 });