Create Articulated Objects

Load From URDF

Follow https://github.com/Unity-Technologies/URDF-Importer to import the objects from URDF files. Use CareTools to remove redundant scripts from URDF importer and attach proper joint properties to it.

To be specific, select the object in the Hierarchy window after loading it into the scene. Click CareTool → ArticulationBody → Initialize Articulated Object Joints

Create From 3D models

You can load 3D model files, like fbx , obj , and also other supported formats of objects into Unity environments.

Check this page for the detailed steps of loading 3D models into your scene. (TLDR: Make sure your file is in a supported format, and then drag it into Unity Editor). Attach ArticulationBody scripts to the object joints, and adjust them to make sure the parameters are as desired.

https://docs.unity3d.com/2023.1/Documentation/Manual/models-importing.html

Create Manually

You can also manually create articulated objects by dragging object primitives into the scene and form a tree-format structure as an articulated object. On each joint, attach ArticulationBody scripts.