⌚ Time to complete: X minutes

Planned outcomes

After completing this guide, you will have a robot model imported to Unity Scene and ready to be used with Unity x ROS framework.

Prerequisites

This guide is written for Unity 2020.2 (or any newer version). Before you proceed, make sure that you have:

<aside> ℹ️ First, we will prepare the install the URDF Importer package from Unity..

</aside>

Open your Unity Project (or create a new one).
In the top menu, go to Window → Package Manager to open Package Manager window.

<aside> ℹ️ Next, we will import the ***URDF*** file with our robot’s model into Unity.

</aside>

Locate the URDF file for the robot you want to import.

<aside> ℹ️ Some ROS robot support packages come with XACRO files instead of URDF. If this is your case, don’t fret - URDF can be easily generated from XACRO file.

</aside>
- If you have a XACRO file instead, use the following command to generate URDF from it:
```
rosrun xacro xacro your_robot.xacro > your_robot.urdf
```
  The generated URDF file will be located next to your XACRO file.
  
  <aside> ⚠️ TODO: Add a tip on how to do it with Docker, without having to go to your ROS installation.
  
  </aside>
Copy your URDF file (together with any models required for it) into your Unity Project’s Assets folder.
Open the Unity Scene where you want to import this robot.
In the Project tab, right-click the added URDF file and select Import Robot from Selected URDF file:
An import window will open. Select the desired import settings and click Import URDF:

<aside> ⚠️ WORK IN PROGRESS: This section should detail how to handle packages import with URDF importer - it cannot detect them automatically.

</aside>

<aside> ⚠️ THIS ARTICLE IS WORK IN PROGRESS

</aside>