rapier/crates/rapier3d-urdf/CHANGELOG.md

Unreleased

Modified

• Pre-parsing of urdf files is now done through the more recent urdf_rs crate.

Added

• Add optional support for Collada and Wavefront files through new feature flags collada and wavefront.
• Add support for capsule urdf geometry

0.3.0

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.