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Suzannah Smith edited this page on 28 Sep 2018 · 2 revisions
3.1 Import a URDF on Windows
Note: This tutorial assumes that you have completed tutorials:
Copy the Model data into the Unity Asset folder
General Approach:
- Copy the
.urdf
file into an arbitrary Asset subfolder. - Copy all resources (mesh and texture files) into the same subfolder while maintaining the original folder structure of the ROS package.
- In Unity, find the
.urdf
file in the Project window pane. Right click the file and selectImport Robot from URDF
in the context menu. (Alternative method: in Unity's menu bar, clickGameObject
>3D Object
>URDF Model (import)
and select the.urdf
file.)
Shadow Hand Example:
- Copy the
shadowhand.urdf
fromsimox_ros/sr_grasp_description/urdf
to:
/Assets/Urdf/simox_ros/shadowhand.urdf
- Copy the
.dae
mesh geometry files fromsimox_ros/sr_grasp_description/meshes
to:
/Assets/Urdf/simox_ros/sr_grasp_description/meshes
- In Unity click
GameObject
>3D Object
>URDF Model
and selectshadowhand.urdf
.
Here is an illustration of the resulting Shadow Hand GameObject which is directly imported into the scene.
Next tutorial: 3.2 Create, Modify and Export a URDF model