bevy_urdf

A Bevy plugin for importing robots from URDF files and running physics simulations. Ground vehicles use Rapier physics, while drones are simulated using integrated dynamics models.

Bevy URDF Plugin

A Bevy plugin for loading and simulating robots from URDF files.

Installation

[dependencies]
bevy_urdf = "0.4"

Setup

use bevy::prelude::*;
use bevy_urdf::{UrdfPlugin, StlPlugin, ObjPlugin};

fn main() {
    App::new()
        .add_plugins(DefaultPlugins)
        .add_plugins((UrdfPlugin, StlPlugin, ObjPlugin))
        .run();
}

Loading Robots

use bevy_urdf::{LoadRobot, RobotLoaded, SpawnRobot, RobotType};

fn setup(mut load_robot_events: EventWriter<LoadRobot>) {
    load_robot_events.send(LoadRobot {
        urdf_path: "robots/robot.urdf".to_string(),
        mesh_dir: "assets/robots".to_string(),
    });
}

fn spawn_robot(
    mut robot_loaded_events: EventReader<RobotLoaded>,
    mut spawn_robot_events: EventWriter<SpawnRobot>,
) {
    for event in robot_loaded_events.read() {
        spawn_robot_events.send(SpawnRobot {
            handle: event.handle.clone(),
            mesh_dir: event.mesh_dir.clone(),
            robot_type: RobotType::NotDrone, // or UAV, UUV, Manipulator
        });
    }
}

Control Events

Motor Velocities (ground robots)

ControlMotorVelocities {
    handle: robot_handle,
    velocities: vec![1.0, -1.0, 0.5],
}

Motor Positions (manipulators)

ControlMotorPositions {
    handle: robot_handle,
    positions: vec![0.5, 1.2, -0.3],
    motor_props: motor_properties,
}

Thrusts (drones)

ControlThrusts {
    handle: robot_handle,
    thrusts: vec![10.0, 10.0, 10.0, 10.0],
}

Sensor Reading

SensorsRead {
    handle: robot_handle,
    transforms: link_transforms,
    joint_angles: current_angles,
}

URDF Requirements

Use relative mesh paths: meshes/part.stl
Remove package:// URIs
Remove Gazebo-specific elements
Support STL and OBJ mesh formats only

Examples

cargo run --example uav --release
cargo run --example uuv --release
cargo run --example quadruped --release
cargo run --example manipulator --release

bevy_urdf 0.4.3