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.

Integrate URDF Importer into Unity Project

• Clone or download the URDF Importer Repo
• In your Unity project create a directory named Plugins in Assets
• Copy the URDFLibrary and UnityEditorScripts directories into the newly created Assets/Plugins directory
• Confirm the integration succeded by selecting Assets from the menu bar and look for the Import Robot from URDF option

Importing a URDF into a Unity scene

• Find the urdf file of the robot you want to import in the Assets folder and select it
• From the menu click Assets -> Import Robot from URDF or in file explorer right click on the selected file and click Import Robot from URDF

Tutorials

Instructions for using URDF importer can be found here.