Crate rapier3d_urdf

URDF loader for the Rapier physics engine

Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The rapier3d-urdf crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the rapier3d physics engine.

Optional cargo features

• stl: enables loading STL meshes referenced by the URDF file.
• collada: enables loading Collada (.dae) meshes referenced by the URDF file.
• wavefront: enables loading Wavefront (.obj) meshes referenced by the URDF file.

Limitations

Are listed below some known limitations you might want to be aware of before picking this library. Contributions to improve these elements are very welcome!

• Mesh file types are limited. Contributions are welcome. You may check the rapier3d-meshloader repository for an example of mesh loader.
• When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
• The following fields are currently ignored:
  • Joint::dynamics
  • Joint::limit.effort / limit.velocity
  • Joint::mimic
  • Joint::safety_controller

Structs

UrdfJoint

An urdf joint loaded as a rapier GenericJoint.

UrdfJointHandle

Handle of a joint read from the URDF file and inserted into rapier’s ImpulseJointSet or a MultibodyJointSet.

UrdfLink

An urdf link loaded as a rapier RigidBody and its Colliders.

UrdfLinkHandle

The handles related to a link read from the URDF file and inserted into Rapier’s RigidBodySet and ColliderSet.

UrdfLoaderOptions

A set of configurable options for loading URDF files.

UrdfMultibodyOptions

Options applied to multibody joints created from the URDF joints.

UrdfRobot

A robot represented as a set of rapier rigid-bodies, colliders, and joints.

UrdfRobotHandles

Handles to all the Rapier objects created when inserting this robot into Rapier’s RigidBodySet, ColliderSet, ImpulseJointSet, MultibodyJointSet.

Type Aliases

LinkId

The index of an urdf link.