Godot URDF Addon

URDF parser for Godot 4.6 using the native XML-parser.

Features / Usage

Simply Drag-and-Drop URDF-files in your Godot scene, visuals and collisions will be generated automatically. Alternatively you can attach the urdf_loader.gd-script to a Node3D and the robots nodes will be created at its children, so you can easily modify/extend your robot.

This repository provides a controller for wheeled robots, you only need to configure the movement type (e.g. Differential drive) and the generated 6DOF-Joints of the wheels and can control the robot using the W A S D keys.

Demo

You can see the addon in action in this demo repository with turtlebot and Boston Dynamics Spot robot.

The plugin has also been tested with a modified version of the Unitree G1 Humanoid and additional Robots by the DFKI Robotics Innovation Center. Additional Demos will be provided soon.

Technical details

The collisions are represented as CollisionShape3D which are children of generated RigidBody3D, next to Generic6DOFJoint3D. This flattens the XML structure, so we also provide a custom dock that shows the original structure as tree.

Screenshots / Examples

Driving around

Fig. 1: The main Scene with the controllable turtlebot in the front. Note that the original URDF for the Turtlebot 3 defines the caster wheel in the back as box, a sphere would be more realistic.

Importing a quadruped

Fig 2: The imported Spot Robot from Boston Dynamics (with custom configured collision meshes). Note that it is missing a controller so the robot will just collapse in on itself when you put it on any surface.

Importing a humanoid

Fig 3: The imported Unitree G1 Robot.

Recommendation

Use this URDF-parser in combination with godot-stl-io by @onze, MIT license: https://github.com/onze/godot-stl-io/ to load URDFs that reference STL-files.