URDF Importer

URDF Importer allows you to import a robot defined in URDF format in a Unity scene. URDF defines the geometry, visual meshes, kinematic and dynamic attributes of a Robot. Importer parses a URDF file and imports it into Unity using PhyX 4.0 articulation bodies.

Using the Package

Adding the URDF package

1. Open the Package Manager from Unity Menu. Click Window -> Package Manager. A new package manager window will appear.

2. Click on the + sign on the top left corner of the package manager window and click on Add Package from Git URL.

3. Enter the git URL for the URDF Importer with the latest version tag (currently v0.1.2) https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2 in the text box and press Enter.

4. Click Import URDF.

Importing the robot using URDF file

1. Copy the URDF and the associated files in the assets folder in the Project window. Make sure the location of the mesh files is correct.

2. Right Click on the URDF file and click Import Robot from Selected URDF file.

3. A window will appear with the Import settings for the Robot. First setting mentions the orientation of the mesh files. The second setting is used to select the algorithm to be used in Collision mesh Decomposition. For more information click here

4. Click Import URDF

Tutorials

Instructions for using URDF importer can be found here.

ROS#

Special thanks to the Siemens ROS# Project Team for driving the ROS-Unity Integration Open Source since 2017.

This repo is a fork of ROS# and was a great starting point for our development.