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https://github.com/Unity-Technologies/URDF-Importer

URDF importer
https://github.com/Unity-Technologies/URDF-Importer

robot robot-model robot-simulation robotics robotics-development robotics-simulation ros simulation unity unity-robotics urdf

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URDF importer

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# URDF Importer 



[![Version](https://img.shields.io/github/v/tag/Unity-Technologies/URDF-Importer)](https://github.com/Unity-Technologies/URDF-Importer/releases)

[![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)

![Unity](https://img.shields.io/badge/unity-2020.2+-brightgreen)



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## Introduction



URDF 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.



## 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 v0.5.2) `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.5.2` in the text box and press `Enter`.



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](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#file-hierarchy) 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](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#convex-mesh-collider)






4. Click `Import URDF`



## Tutorials



Instructions for using URDF importer can be found [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_tutorial.md).



## ROS#



Special 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.



This repo is a fork of [ROS#](https://github.com/siemens/ros-sharp) and was a great starting point for our development.



## Community and Feedback



The Unity Robotics projects are open-source and we encourage and welcome contributions. 

If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 

and [code of conduct](CODE_OF_CONDUCT.md).



## Support

For 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.



For 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.



For any other questions or feedback, connect directly with the 

Robotics team at [[email protected]](mailto:[email protected]).



## License

[Apache License 2.0](LICENSE)