{"id":15160130,"url":"https://github.com/unity-technologies/urdf-importer","last_synced_at":"2025-04-06T13:11:05.950Z","repository":{"id":39935061,"uuid":"310117458","full_name":"Unity-Technologies/URDF-Importer","owner":"Unity-Technologies","description":"URDF importer","archived":false,"fork":false,"pushed_at":"2023-10-02T16:23:25.000Z","size":11144,"stargazers_count":251,"open_issues_count":32,"forks_count":75,"subscribers_count":12,"default_branch":"main","last_synced_at":"2025-03-30T11:11:14.615Z","etag":null,"topics":["robot","robot-model","robot-simulation","robotics","robotics-development","robotics-simulation","ros","simulation","unity","unity-robotics","urdf"],"latest_commit_sha":null,"homepage":"","language":"C#","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Unity-Technologies.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2020-11-04T21:04:43.000Z","updated_at":"2025-03-25T16:40:32.000Z","dependencies_parsed_at":"2024-01-22T19:43:10.646Z","dependency_job_id":null,"html_url":"https://github.com/Unity-Technologies/URDF-Importer","commit_stats":null,"previous_names":[],"tags_count":17,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2FURDF-Importer","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2FURDF-Importer/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2FURDF-Importer/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2FURDF-Importer/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Unity-Technologies","download_url":"https://codeload.github.com/Unity-Technologies/URDF-Importer/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247485287,"owners_count":20946398,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["robot","robot-model","robot-simulation","robotics","robotics-development","robotics-simulation","ros","simulation","unity","unity-robotics","urdf"],"created_at":"2024-09-26T22:22:14.162Z","updated_at":"2025-04-06T13:11:05.932Z","avatar_url":"https://github.com/Unity-Technologies.png","language":"C#","funding_links":[],"categories":[],"sub_categories":[],"readme":"# URDF Importer \n\n[![Version](https://img.shields.io/github/v/tag/Unity-Technologies/URDF-Importer)](https://github.com/Unity-Technologies/URDF-Importer/releases)\n[![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)\n![Unity](https://img.shields.io/badge/unity-2020.2+-brightgreen)\n\n---\n\nWe're currently working on lots of things! Please take a short moment fill out our [survey](https://unitysoftware.co1.qualtrics.com/jfe/form/SV_0ojVkDVW0nNrHkW) to help us identify what products and packages to build next.\n\n---\n\n## Introduction\n\nURDF Importer allows you to import a robot defined in [URDF](http://wiki.ros.org/urdf/XML) 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.\n\n## Using the Package\n\n### Adding the URDF package\n\n1. Open the Package Manager from Unity Menu. Click `Window -\u003e Package Manager`. A new package manager window will appear.\n\n2. Click on the `+` sign on the top left corner of the package manager window and click on `Add Package from Git URL`. \n\n\u003cimg src = \"images~/Package_manager_add.png\"\u003e\n\n3. Enter the git URL for the URDF Importer with the latest version tag (currently v0.5.2) `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.5.2` in the text box and press `Enter`.\n\n4. Click `Import URDF`.\n\n### Importing the robot using URDF file\n\n1. Copy the URDF and the associated files in the assets folder in the Project window. Make sure the [location](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#file-hierarchy) of the mesh files is correct.\n\n2. Right Click on the URDF file and click `Import Robot from Selected URDF file`.\n\n\u003cimg src = \"images~/URDF%20Menu.png\" width = 40% height = 40%\u003e\n\n3. 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](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#convex-mesh-collider)\n\n\u003cimg src = \"images~/URDF%20Menu.png\" width = 40% height = 40%\u003e\n\n4. Click `Import URDF`\n\n\n## Tutorials\n\nInstructions for using URDF importer can be found [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_tutorial.md).\n\n## ROS#\n\nSpecial thanks to the Siemens [ROS# Project Team]( https://github.com/siemens/ros-sharp/wiki/Info_Acknowledgements) for driving the ROS-Unity Integration Open Source since 2017.\n\nThis repo is a fork of [ROS#](https://github.com/siemens/ros-sharp) and was a great starting point for our development.\n\n## Community and Feedback\n\nThe Unity Robotics projects are open-source and we encourage and welcome contributions. \nIf you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) \nand [code of conduct](CODE_OF_CONDUCT.md).\n\n## Support\nFor questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.\n\nFor feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/URDF-Importer/issues) using the provided templates and the Robotics team will investigate as soon as possible.\n\nFor any other questions or feedback, connect directly with the \nRobotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).\n\n## License\n[Apache License 2.0](LICENSE)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Funity-technologies%2Furdf-importer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Funity-technologies%2Furdf-importer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Funity-technologies%2Furdf-importer/lists"}