This project provides a guideline for extracting joint-link information from an ROS .urdf file to load a robot model in Godot 4.x. I have used the G1 Humanoid Robot from Unitree for this project. The robot description file .urdf and the corresponding mesh files can be accessed from their GitHub page. For this project, I'm using the 29 DoF model.

• Download and install the latest Godot version. Make sure to download the "Godot Engine - .NET" version as it supports C#.
• Download and install .NET SDK which is required for .NET development.
• (Optional) Download and install VS Code and install these extensions: C#, C# Dev Kit, .NET Install Tool, godot-tools.

• Clone this repo and extract all the files.
• Import the project into Godot and click Edit to open the project.
• Navigate to Project > Tool > C# and then select Create C# Solution.
• Press Alt + B or click the Build Project( 🔨 ) button to build the project.
• Finally, press F5 or click the Run Project ( ▶️ ) button to run the project.

Optional: If you'd like to develop with VS Code and use it as an external editor, then follow these steps:

• In Godot, navigate to Editor > Text Editor > External. Turn on Use External Editor and set Exec Path to your VS Code executable file Code.exe.
• Navigate to Editor > Text Editor > Editor. Select "Visual Studio Code" at the dropdown menu for External Editor and set Custom Exec Path to your VS Code executable file, i.e Code.exe.
• In .vscode/launch.json, set "program" to the path of your Godot executable file, i.e Godot_v4.x-stable_mono_win64.exe.