URDF Import/Export

[Preliy]

I am exploring the idea of adding URDF import/export functionality to Flange and would love to hear your thoughts.

1. Are you currently using URDF?
2. Would URDF import/export be beneficial in your projects?
3. What specific use cases do you see for URDF in Unity? (e.g., robot model transfer from CAD to Unity, ROS-based simulation, kinematics validation, etc.)
4. Which features would be most valuable in a URDF importer/exporter? (e.g., automatic joint and link setup, material mapping, compatibility with existing Unity physics systems)

[daesu83]

It seems like we need a URDF import function.

If you are not a robot expert, it is difficult to put Dh parameter data into the frame.

It would be a great feature if flange could automatically set the frame with the urdf import function.

[Preliy]

I need some contributing support for this feature. Can you give some references for C# or another open source project?

[TheFeThrone]

I’m currently working on my Bachelor Thesis in Robotics Simulation using Unity, and I first came across your package and recently also checked out your youtube-tutorial on creating a custom robot. I’m still getting the hang of URDFs and your package, so my knowledge is a bit limited right now.

I wanted to ask before I blindly try something out, but I stumbled upon the URDF-Importer by Unity-Technologies and asked myself if this could be used for custom robot creation in your package.
I’m sure you’re already aware of this package, but I thought I’d mention it just in case it could be useful.

• Theres a tutorial in their Unity Robotics Hub on importing a Niryo One ROS Robot >...
• They have an automatic creation of Mesh Colliders which is very important in my case >...

I’m specifically looking to automate the robot creation for my thesis, and having a URDF importer working with your package would be amazing to enable a standardized workflow for any robots.

P.S. Your package has honestly been one of the most helpful and relieving things I’ve come across, especially after discovering that so many of Unity's robotics-related stuffs like SystemGraphs, SensorSDK, USP Sensors, Unity Industrial Collection, Unity Simulation, etc have been deprecated.

[Preliy]

Thank you for the feedback! You’re right—support for URDF/SDF import has been requested, and given the current state of the package it makes perfect sense to develop it. I’ll dive deeper into this next. I’ve created an issue #33 to track it; contributions are very welcome!