rapier3d-urdf

Mesh 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 .dae meshes referenced by the URDF file.
• wavefront: enables loading .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!

• Supported mesh formats are stl, collada and wavefront. Contributions are welcome. You my 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

Resources and discussions

• Dimforge: See all the open-source projects we are working on! Follow our announcements on our blog.
• User guide: Learn to use Rapier in your project by reading the official User Guides.
• Discord: Come chat with us, get help, suggest features, on Discord!
• NPM packages: Check out our NPM packages for Rapier, if you need to use it with JavaScript/Typescript.

Please make sure to familiarize yourself with our Code of Conduct and our Contribution Guidelines before contributing or participating in discussions with the community.