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Sébastien Crozet
2024-06-09 10:57:37 +02:00
committed by Sébastien Crozet
parent cfddaa3c46
commit edaa36ac7e
41 changed files with 897 additions and 202 deletions
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crates/rapier3d-urdf/CHANGELOG.md Normal file
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## Unreleased
This is the initial release of the `rapier3d-urdf` crate.
### Added
- Add `UrdfRobot` which is a collection of colliders, rigid-bodies and joints representing a robot loaded from an URDF
file.
- Add `UrdfRobot::from_file` to load an `UrdfRobot` from an URDF file.
- Add `UrdfRobot::from_str` to load an `UrdfRobot` from a string in URDF format.
- Add `UrdfRobot::from_robot` to load an `UrdfRobot` from an already loaded URDF
robot (pre-parsed with the `xurdf` crate).
- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
**impulse** joints.
- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
**multibody** joints.