trimesh.exchange.urdf¶
-
trimesh.exchange.urdf.
export_urdf
(mesh, directory, scale=1.0, color=[0.75, 0.75, 0.75], **kwargs)¶ Convert a Trimesh object into a URDF package for physics simulation. This breaks the mesh into convex pieces and writes them to the same directory as the .urdf file.
- Parameters
mesh (Trimesh object) –
directory (str) – The directory path for the URDF package
- Returns
mesh – Multi-body mesh containing convex decomposition
- Return type
Trimesh object