# Importing a Niryo One Robot using URDF Importer
## Requirements
- Unity Version 2020.2+
- [URDF Importer repo](https://github.com/Unity-Technologies/URDF-Importer)
- 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
- 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`
- This directory only includes a `.urdf.xacro` file which will need to be converted into a `.urdf` file before we can import it
- Run the following command to convert Xacro to URDF, `rosrun xacro xacro --inorder -o PATH/TO/niryo_one.urdf PATH/TO/niryo_one.urdf.xacro`
- Copy the generated `niryo_one.urdf` file to `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).
- Select the Convex Mesh Decomposer you want to use for the imported robot. More information can be found [here](urdf_appendix.md##Convex-Mesh-Collider).
- Click `Import`
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How to solve ‘No such file or directory’? I am using ROS inside docker.
rosrun xacro xacro --inorder -o E:/work/ROS/tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one_description/urdf/v1/niryo_one.urdf E:/work/ROS/tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one_description/urdf/v1/niryo_one.urdf.xacro
The command looks correct. Is it possible that the file is not downloaded/copied in to the correct position?
If you are using a docker, is it possible that the volume is not connected to the docker container?