20. Importing URDF models

The URDF model import feature is accessible from the AGX menu in the top Menu Bar and the File tab of the AGX Mode.

Using the menu bar to import a URDF model.

The import options are accessible from the AGX top menu bar item.

Using the AGX Mode to import a URDF model.

The import options are accessible from the File tab of the AGX Mode.

When selecting the Import URDF model to Blueprint... option, the following dialog appears.

Selecting URDF file.

Selecting a URDF (.urdf) file to import.

If the selected URDF file contains any filename paths, the following dialog appears.

Selecting URDF package path directory.

Specifying the URDF package directory.

The directory selected here corresponds to the package:// part of any filename path used in the URDF (.urdf) file and must match. This is common when e.g. having mesh files that are used in the URDF model. The figure below shows an example of this.

URDF package path example.

An example URDF (.urdf) file having package:// as part of a filename path.

Once the import procedure is complete, a Blueprint containing the imported objects will appear and can be used as normal.

URDF model imported to Blueprint.

After importing a URDF file, the result is a Blueprint containg the imported objects.

A key point is that regardless of a model being imported from an AGX Dynamics archive (.agx) or a URDF (.urdf) file, everything is translated to AGX Dynamics for Unreal Components and can be used in the same way.

20.1. Limitations

The URDF import feature in AGX Dynamics for Unreal supports the same features, and have the same limitations, as the Algoryx Dynamics URDF Reader except for a few things:

  • URDF’s mimic feature is not supported.
  • Textures from mesh files such as e.g. collada (.dae) files are not supported.