Clean up URDF loader

Author: oxkitsune

README.md

@@ -9,9 +9,9 @@ External data loaders are executables that are available to the Rerun Viewer via
 This example is written in Python, and uses [urdf_parser_py](https://github.com/ros/urdf_parser_py/tree/ros2) to read the files. ROS package-relative paths support both ROS 1 and ROS 2-based resolving.
 
 ## Installing the Rerun Viewer
-The simplest option is just (*this example currently requires a prerelease*):
+The simplest option is just:
 ```bash
-pip install --pre -f https://build.rerun.io/commit/1dad7c8/wheels --upgrade rerun-sdk
+pip install --upgrade rerun-sdk
 ```
 Read [this guide](https://www.rerun.io/docs/getting-started/installing-viewer) for more options.
 

pyproject.toml

@@ -1,21 +1,35 @@
 [project]
 name = "rerun-loader-urdf"
-version = "0.1.0"
-requires-python = ">=3.9"
+description = "Example of an executable data-loader plugin for the Rerun Viewer for URDF files."
+version = "0.2.0"
+requires-python = ">=3.10"
 dependencies = [
-  "urdfdom-py @ git+https://github.com/ros/urdf_parser_py.git@1.2.1",
-  "rerun-sdk>=0.14.1",
+  "urdfdom-py",
+  "rerun-sdk>=0.23.1",
   "numpy>=1.26.4",
   "trimesh>=4.2.2",
   "pyyaml>=6.0.1",
   "lxml>=5.1.0",
   "pillow>=10.2.0",
   "pycollada>=0.8",
-  "scipy>=1.12.0",
+  "scipy>=1.15.2",
+  "xacro>=1.13.3",
 ]
 
+[project.scripts]
+rerun-loader-urdf = "rerun_loader_urdf:main"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.uv.sources]
+urdfdom-py = { git = "https://github.com/ros/urdf_parser_py.git", rev = "1.2.1" }
 
 [tool.ruff]
+line-length = 120
+
+[tool.ruff.lint]
 ignore = [
   "D1",
   "D202",
@@ -31,7 +45,6 @@ ignore = [
   "UP007",
 ]
 
-line-length = 120
 select = [
   "D",   # pydocstyle codes https://www.pydocstyle.org/en/latest/error_codes.html
   "E",   # pycodestyle error codes: https://pycodestyle.pycqa.org/en/latest/intro.html#error-codes