- Niryo One URDF files from [Niryo One ROS](https://github.com/NiryoRobotics/niryo_one_ros)
- Working ROS environment
## Setting up the URDF Importer in Unity Editor
## Setting up the URDF Importer in Unity Editor
- Integrate the URDF Importer following these [instructions](https://github.com/Unity-Technologies/URDF-Importer#integrate-urdf-importer-into-unity-project)
- Create a new directory in `Assets` and name it `URDF`
- Clone the [Niryo One ROS](https://github.com/NiryoRobotics/niryo_one_ros) repo and copy the `niryo_one_description` directory into `Assets/URDF`
- Right click on the this file and select `Import Robot from URDF`
- Select the co-ordinate system in which the meshes were designed. Default mesh orientation is Y-up which is supported by Unity but some packages often use Z-up and X-up configuration. For more [information](https://docs.unity3d.com/Manual/HOWTO-FixZAxisIsUp.html).
- Right click on the this file and select `Import Robot from URDF`
- Select the co-ordinate system in which the meshes were designed. Default mesh orientation is Y-up which is supported by Unity but some packages often use Z-up and X-up configuration. For more [information](https://docs.unity3d.com/Manual/HOWTO-FixZAxisIsUp.html).
- To add the controller to an imported robot click the `Enable` button in the Inspector window in front of the `Controller Script` option. This will add a Controller Script, FKrobot and Joint Control at runtime.
- To add the controller to an imported robot click the `Enable` button in the Inspector window in front of the `Controller Script` option. This will add a Controller Script, FKrobot and Joint Control at runtime.
- To prevent the joints from slipping set the `Stiffness` and `Damping` to `100,000` and `10,000` respectively.
- To be able to apply forces to the joints set the `Force Limit` to `10,000`.
- To prevent the robot from falling over, in the GameObject tree expand `niryo_one` -> `world` -> `base_link` and set the toggle for `Immovable` for the base_link.
peifeng-unity