URDF loading code in both C# for Unity and Javascript for THREE.js, as well as example JPL ATHLETE URDF files
The loaders support the necessary subset of the URDF spec to load the ATHLETE URDF and meshes. Specifically the code only supports fixed and revoluate joints, as well as loading .STL mesh files at the moment.
The software is available under the Apache V2.0 license.
Copyright © 2018 California Institute of Technology. ALL RIGHTS RESERVED. United States Government Sponsorship Acknowledged. Any commercial use must be negotiated with with Office of Technology Transfer at the California Institute of Technology. This software may be subject to U.S. export control laws. By accepting this software, the user agrees to comply with all applicable U.S. export laws and regulations. User has the responsibility to obtain export licenses, or other export authority as may be required before exporting such information to foreign countries or providing access to foreign persons. Neither the name of Caltech nor its operating division, the Jet Propulsion Laboratory, nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.